2025-06-25T20:21:16.231Z,1750882876.231 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-06-25T20:21:16.231Z,1750882876.231 [lineCaptureHoming:BA.Execute] Stopped
2025-06-25T20:21:16.231Z,1750882876.231 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-25T20:21:16.231Z,1750882876.231 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-25T20:21:16.231Z,1750882876.231 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-25T20:21:16.231Z,1750882876.231 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-25T20:21:16.256Z,1750882876.256 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-25T20:21:16.256Z,1750882876.256 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-25T20:21:16.259Z,1750882876.259 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-25T20:21:16.259Z,1750882876.259 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-25T20:21:16.293Z,1750882876.293 [CommandExec](IMPORTANT): got command restart logs
2025-06-25T20:21:16.667Z,1750882876.667 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-25T20:21:16.667Z,1750882876.667 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-25T20:21:27.539Z,1750882887.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:21:27.797Z,1750882887.797 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:21:27.797Z,1750882887.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:21:28.049Z,1750882888.049 [DAT](INFO): DAT read: user:527>

2025-06-25T20:21:28.049Z,1750882888.049 [DAT](INFO): DAT read: Tx time:20:21:29.2281

2025-06-25T20:21:28.050Z,1750882888.050 [DAT](INFO): Ping request sent.
2025-06-25T20:21:28.050Z,1750882888.050 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:21:28.050Z,1750882888.050 [DAT](INFO): publishing transmit ping time
2025-06-25T20:21:28.051Z,1750882888.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-06-25T20:21:28.301Z,1750882888.301 [DAT](INFO): DAT read: TxSync time:20:21:29.2273

2025-06-25T20:21:28.302Z,1750882888.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251859
2025-06-25T20:21:28.553Z,1750882888.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503402
2025-06-25T20:21:28.805Z,1750882888.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900
2025-06-25T20:21:29.058Z,1750882889.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008289
2025-06-25T20:21:29.309Z,1750882889.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259044
2025-06-25T20:21:29.561Z,1750882889.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929
2025-06-25T20:21:29.813Z,1750882889.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762905
2025-06-25T20:21:30.065Z,1750882890.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015079
2025-06-25T20:21:30.317Z,1750882890.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907
2025-06-25T20:21:30.569Z,1750882890.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519286
2025-06-25T20:21:30.822Z,1750882890.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771596
2025-06-25T20:21:31.075Z,1750882891.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025086
2025-06-25T20:21:31.326Z,1750882891.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276064
2025-06-25T20:21:31.577Z,1750882891.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527107
2025-06-25T20:21:31.829Z,1750882891.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778889
2025-06-25T20:21:32.081Z,1750882892.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030933
2025-06-25T20:21:32.333Z,1750882892.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283016
2025-06-25T20:21:32.585Z,1750882892.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535474
2025-06-25T20:21:32.838Z,1750882892.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787702
2025-06-25T20:21:33.091Z,1750882893.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040633
2025-06-25T20:21:33.341Z,1750882893.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291375
2025-06-25T20:21:33.593Z,1750882893.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542979
2025-06-25T20:21:33.845Z,1750882893.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794962
2025-06-25T20:21:34.097Z,1750882894.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046925
2025-06-25T20:21:34.349Z,1750882894.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298977
2025-06-25T20:21:34.601Z,1750882894.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551300
2025-06-25T20:21:34.853Z,1750882894.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802917
2025-06-25T20:21:35.109Z,1750882895.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058693
2025-06-25T20:21:35.357Z,1750882895.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306970
2025-06-25T20:21:35.609Z,1750882895.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558918
2025-06-25T20:21:35.861Z,1750882895.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810908
2025-06-25T20:21:36.113Z,1750882896.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062978
2025-06-25T20:21:36.365Z,1750882896.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314913
2025-06-25T20:21:36.617Z,1750882896.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567056
2025-06-25T20:21:36.869Z,1750882896.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819102
2025-06-25T20:21:37.123Z,1750882897.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072977
2025-06-25T20:21:37.373Z,1750882897.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323322
2025-06-25T20:21:37.629Z,1750882897.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579041
2025-06-25T20:21:37.881Z,1750882897.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830892
2025-06-25T20:21:38.133Z,1750882898.133 [DAT](INFO): Reached modem response timeout
2025-06-25T20:21:38.893Z,1750882898.893 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:21:38.893Z,1750882898.893 [DAT](INFO): response not received
2025-06-25T20:21:38.893Z,1750882898.893 [DAT](ERROR): No response from remote modem.
2025-06-25T20:21:57.411Z,1750882917.411 [NAL9602](INFO): SBD MO Status=2, MOMSN=48876, MT Status=2, MTMSN=0
2025-06-25T20:21:57.411Z,1750882917.411 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-25T20:22:06.681Z,1750882926.681 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-25T20:22:07.684Z,1750882927.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:22:27.734Z,1750882947.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:22:27.801Z,1750882947.801 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:22:27.801Z,1750882947.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:22:28.053Z,1750882948.053 [DAT](INFO): DAT read: user:528>

2025-06-25T20:22:28.053Z,1750882948.053 [DAT](INFO): DAT read: Tx time:20:22:29.2285

2025-06-25T20:22:28.054Z,1750882948.054 [DAT](INFO): Ping request sent.
2025-06-25T20:22:28.054Z,1750882948.054 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:22:28.054Z,1750882948.054 [DAT](INFO): publishing transmit ping time
2025-06-25T20:22:28.055Z,1750882948.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-06-25T20:22:28.305Z,1750882948.305 [DAT](INFO): DAT read: TxSync time:20:22:29.2277

2025-06-25T20:22:28.306Z,1750882948.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251830
2025-06-25T20:22:28.557Z,1750882948.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951
2025-06-25T20:22:28.809Z,1750882948.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754860
2025-06-25T20:22:29.061Z,1750882949.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006995
2025-06-25T20:22:29.313Z,1750882949.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821
2025-06-25T20:22:29.565Z,1750882949.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511115
2025-06-25T20:22:29.818Z,1750882949.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763806
2025-06-25T20:22:30.069Z,1750882950.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014795
2025-06-25T20:22:30.321Z,1750882950.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266855
2025-06-25T20:22:30.573Z,1750882950.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518931
2025-06-25T20:22:30.825Z,1750882950.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852
2025-06-25T20:22:31.080Z,1750882951.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025223
2025-06-25T20:22:31.329Z,1750882951.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274992
2025-06-25T20:22:31.581Z,1750882951.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526868
2025-06-25T20:22:31.833Z,1750882951.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778871
2025-06-25T20:22:32.086Z,1750882952.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032588
2025-06-25T20:22:32.337Z,1750882952.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282846
2025-06-25T20:22:32.589Z,1750882952.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534989
2025-06-25T20:22:32.841Z,1750882952.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786939
2025-06-25T20:22:33.095Z,1750882953.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040812
2025-06-25T20:22:33.345Z,1750882953.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291243
2025-06-25T20:22:33.597Z,1750882953.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542930
2025-06-25T20:22:33.849Z,1750882953.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795076
2025-06-25T20:22:34.101Z,1750882954.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046823
2025-06-25T20:22:34.353Z,1750882954.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298960
2025-06-25T20:22:34.605Z,1750882954.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550761
2025-06-25T20:22:34.857Z,1750882954.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802793
2025-06-25T20:22:35.111Z,1750882955.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056886
2025-06-25T20:22:35.361Z,1750882955.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306905
2025-06-25T20:22:35.613Z,1750882955.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559078
2025-06-25T20:22:35.805Z,1750882955.805 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.779030
2025-06-25T20:22:35.823Z,1750882955.823 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-25T20:22:35.823Z,1750882955.823 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-25T20:22:35.823Z,1750882955.823 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-25T20:22:35.823Z,1750882955.823 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:22:35.823Z,1750882955.823 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-25T20:22:35.865Z,1750882955.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811082
2025-06-25T20:22:36.117Z,1750882956.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062894
2025-06-25T20:22:36.372Z,1750882956.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317742
2025-06-25T20:22:36.621Z,1750882956.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567042
2025-06-25T20:22:36.808Z,1750882956.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:22:36.873Z,1750882956.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818841
2025-06-25T20:22:37.127Z,1750882957.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073007
2025-06-25T20:22:37.377Z,1750882957.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322934
2025-06-25T20:22:37.629Z,1750882957.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574872
2025-06-25T20:22:37.881Z,1750882957.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826841
2025-06-25T20:22:38.133Z,1750882958.133 [DAT](INFO): Reached modem response timeout
2025-06-25T20:22:38.889Z,1750882958.889 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:22:38.889Z,1750882958.889 [DAT](INFO): response not received
2025-06-25T20:22:38.889Z,1750882958.889 [DAT](ERROR): No response from remote modem.
2025-06-25T20:22:57.384Z,1750882977.384 [Radio_Surface](INFO): Powering down
2025-06-25T20:23:06.944Z,1750882986.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:23:07.949Z,1750882987.949 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-25T20:23:07.949Z,1750882987.949 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:23:27.911Z,1750883007.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:23:28.097Z,1750883008.097 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:23:28.097Z,1750883008.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:23:28.349Z,1750883008.349 [DAT](INFO): DAT read: user:529>

2025-06-25T20:23:28.350Z,1750883008.350 [DAT](INFO): DAT read: Tx time:20:23:29.5288

2025-06-25T20:23:28.350Z,1750883008.350 [DAT](INFO): Ping request sent.
2025-06-25T20:23:28.351Z,1750883008.351 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:23:28.351Z,1750883008.351 [DAT](INFO): publishing transmit ping time
2025-06-25T20:23:28.351Z,1750883008.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-25T20:23:28.601Z,1750883008.601 [DAT](INFO): DAT read: TxSync time:20:23:29.5280

2025-06-25T20:23:28.602Z,1750883008.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250968
2025-06-25T20:23:28.853Z,1750883008.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502422
2025-06-25T20:23:29.112Z,1750883009.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760532
2025-06-25T20:23:29.361Z,1750883009.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010296
2025-06-25T20:23:29.614Z,1750883009.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263118
2025-06-25T20:23:29.865Z,1750883009.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514262
2025-06-25T20:23:30.117Z,1750883010.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766115
2025-06-25T20:23:30.369Z,1750883010.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018902
2025-06-25T20:23:30.621Z,1750883010.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270219
2025-06-25T20:23:30.873Z,1750883010.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522145
2025-06-25T20:23:31.125Z,1750883011.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774377
2025-06-25T20:23:31.377Z,1750883011.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026264
2025-06-25T20:23:31.633Z,1750883011.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282282
2025-06-25T20:23:31.881Z,1750883011.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530136
2025-06-25T20:23:32.133Z,1750883012.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782181
2025-06-25T20:23:32.385Z,1750883012.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034385
2025-06-25T20:23:32.637Z,1750883012.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286166
2025-06-25T20:23:32.889Z,1750883012.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538245
2025-06-25T20:23:33.141Z,1750883013.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790172
2025-06-25T20:23:33.393Z,1750883013.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042450
2025-06-25T20:23:33.645Z,1750883013.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294776
2025-06-25T20:23:33.897Z,1750883013.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546193
2025-06-25T20:23:34.149Z,1750883014.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798185
2025-06-25T20:23:34.401Z,1750883014.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050310
2025-06-25T20:23:34.653Z,1750883014.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302443
2025-06-25T20:23:34.905Z,1750883014.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554175
2025-06-25T20:23:35.165Z,1750883015.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814344
2025-06-25T20:23:35.417Z,1750883015.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066137
2025-06-25T20:23:35.670Z,1750883015.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318935
2025-06-25T20:23:35.921Z,1750883015.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570252
2025-06-25T20:23:36.173Z,1750883016.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822111
2025-06-25T20:23:36.425Z,1750883016.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074184
2025-06-25T20:23:36.677Z,1750883016.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326867
2025-06-25T20:23:36.929Z,1750883016.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578151
2025-06-25T20:23:37.182Z,1750883017.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831890
2025-06-25T20:23:37.434Z,1750883017.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082969
2025-06-25T20:23:37.685Z,1750883017.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334739
2025-06-25T20:23:37.937Z,1750883017.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586202
2025-06-25T20:23:38.073Z,1750883018.073 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:23:38.189Z,1750883018.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838878
2025-06-25T20:23:38.441Z,1750883018.441 [DAT](INFO): Reached modem response timeout
2025-06-25T20:23:39.077Z,1750883019.077 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:23:39.201Z,1750883019.201 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:23:39.201Z,1750883019.201 [DAT](INFO): response not received
2025-06-25T20:23:39.202Z,1750883019.202 [DAT](ERROR): No response from remote modem.
2025-06-25T20:24:09.197Z,1750883049.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:24:10.200Z,1750883050.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:24:28.127Z,1750883068.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:28.149Z,1750883068.149 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:24:28.149Z,1750883068.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:24:28.401Z,1750883068.401 [DAT](INFO): DAT read: user:530>

2025-06-25T20:24:28.401Z,1750883068.401 [DAT](INFO): DAT read: Tx time:20:24:29.5791

2025-06-25T20:24:28.402Z,1750883068.402 [DAT](INFO): Ping request sent.
2025-06-25T20:24:28.402Z,1750883068.402 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:24:28.402Z,1750883068.402 [DAT](INFO): publishing transmit ping time
2025-06-25T20:24:28.403Z,1750883068.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-25T20:24:28.653Z,1750883068.653 [DAT](INFO): DAT read: TxSync time:20:24:29.5784

2025-06-25T20:24:28.654Z,1750883068.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252553
2025-06-25T20:24:28.905Z,1750883068.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503045
2025-06-25T20:24:29.157Z,1750883069.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900
2025-06-25T20:24:29.409Z,1750883069.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007481
2025-06-25T20:24:29.662Z,1750883069.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259828
2025-06-25T20:24:29.913Z,1750883069.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510901
2025-06-25T20:24:30.165Z,1750883070.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763324
2025-06-25T20:24:30.417Z,1750883070.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014992
2025-06-25T20:24:30.669Z,1750883070.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267220
2025-06-25T20:24:30.921Z,1750883070.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518909
2025-06-25T20:24:31.173Z,1750883071.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028
2025-06-25T20:24:31.425Z,1750883071.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023185
2025-06-25T20:24:31.677Z,1750883071.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275188
2025-06-25T20:24:31.929Z,1750883071.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527540
2025-06-25T20:24:32.181Z,1750883072.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779044
2025-06-25T20:24:32.433Z,1750883072.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031205
2025-06-25T20:24:32.686Z,1750883072.686 [DAT](INFO): DAT read: Rx Time:20:24:33.3139

2025-06-25T20:24:32.686Z,1750883072.686 [DAT](INFO): Rx dataTimestamp_ set to:1750883072.685831
2025-06-25T20:24:32.687Z,1750883072.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284849
2025-06-25T20:24:32.939Z,1750883072.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537147
2025-06-25T20:24:33.196Z,1750883073.196 [DAT](INFO): DAT read: 20:24:33.3139 LVL= 32752, 26689, 23538, 32755, AGC= 84, IDX= 437,-0.41, 2.077,-1.988,-2.090,-2.302, PHS=-1.816, 0.361, 0.208, RAW= 273.6,  11.8, CAL= 280.5,  16.9, ROT= 229.5, -16.9

2025-06-25T20:24:33.197Z,1750883073.197 [DAT](INFO): got valid direction response:
 20:24:33.3139 LVL= 32752, 26689, 23538, 32755, AGC= 84, IDX= 437,-0.41, 2.077,-1.988,-2.090,-2.302, PHS=-1.816, 0.361, 0.208, RAW= 273.6,  11.8, CAL= 280.5,  16.9, ROT= 229.5, -16.9

2025-06-25T20:24:33.198Z,1750883073.198 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:24:33.198Z,1750883073.198 [DAT](INFO): Received a bad header
2025-06-25T20:24:33.212Z,1750883073.212 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:24:33.213Z,1750883073.213 [DAT](INFO): direction in FSK: [-0.621401,-0.727567,0.290702]
2025-06-25T20:24:38.485Z,1750883078.485 [DAT](INFO): Reached modem response timeout
2025-06-25T20:24:39.241Z,1750883079.241 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:24:39.241Z,1750883079.241 [DAT](INFO): response not received
2025-06-25T20:24:39.242Z,1750883079.242 [DAT](ERROR): No response from remote modem.
2025-06-25T20:24:40.324Z,1750883080.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:24:41.328Z,1750883081.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:24:44.695Z,1750883084.695 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive] Stopped
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-25T20:24:44.696Z,1750883084.696 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-25T20:24:44.697Z,1750883084.697 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-25T20:24:44.697Z,1750883084.697 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-25T20:24:44.697Z,1750883084.697 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-25T20:24:45.175Z,1750883085.175 [lineCaptureHoming:RepeatHack] Stopped
2025-06-25T20:24:45.175Z,1750883085.175 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-25T20:24:45.175Z,1750883085.175 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-25T20:24:45.175Z,1750883085.175 [lineCaptureHoming:Lap] Running Loop=1
2025-06-25T20:24:45.176Z,1750883085.176 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-25T20:24:45.176Z,1750883085.176 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-25T20:24:45.503Z,1750883085.503 [lineCaptureHoming:Lap:A] Stopped
2025-06-25T20:24:45.503Z,1750883085.503 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-25T20:24:45.503Z,1750883085.503 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-25T20:24:45.915Z,1750883085.915 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-25T20:24:45.915Z,1750883085.915 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-25T20:24:45.915Z,1750883085.915 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-25T20:24:45.915Z,1750883085.915 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-25T20:24:45.915Z,1750883085.915 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-25T20:24:45.915Z,1750883085.915 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-25T20:24:45.916Z,1750883085.916 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-25T20:24:45.917Z,1750883085.917 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-25T20:24:45.918Z,1750883085.918 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-25T20:24:45.918Z,1750883085.918 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-25T20:24:45.918Z,1750883085.918 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-25T20:24:45.918Z,1750883085.918 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-25T20:24:45.918Z,1750883085.918 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-25T20:24:45.918Z,1750883085.918 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-25T20:24:45.919Z,1750883085.919 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-25T20:24:45.919Z,1750883085.919 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-25T20:24:45.919Z,1750883085.919 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-25T20:24:45.919Z,1750883085.919 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-25T20:24:45.920Z,1750883085.920 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-25T20:24:45.920Z,1750883085.920 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-25T20:24:45.921Z,1750883085.921 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-25T20:24:46.325Z,1750883086.325 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-25T20:24:46.325Z,1750883086.325 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-25T20:24:46.326Z,1750883086.326 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-25T20:24:46.327Z,1750883086.327 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 14.700000 m (mode  0.000000 count ).
2025-06-25T20:24:46.327Z,1750883086.327 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-25T20:24:46.327Z,1750883086.327 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-25T20:24:46.330Z,1750883086.330 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-25T20:24:46.330Z,1750883086.330 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-25T20:24:46.697Z,1750883086.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-25T20:24:46.697Z,1750883086.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-25T20:24:46.697Z,1750883086.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:46.699Z,1750883086.699 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-25T20:24:46.699Z,1750883086.699 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-25T20:24:46.805Z,1750883086.805 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:24:46.805Z,1750883086.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:24:47.058Z,1750883087.058 [DAT](INFO): DAT read: 

2025-06-25T20:24:47.060Z,1750883087.060 [DAT](INFO): DAT read: Tx time:20:24:48.2293

2025-06-25T20:24:47.061Z,1750883087.061 [DAT](INFO): Ping request sent.
2025-06-25T20:24:47.062Z,1750883087.062 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:24:47.063Z,1750883087.063 [DAT](INFO): DAT read: TxSync time:20:24:48.2286

2025-06-25T20:24:47.072Z,1750883087.072 [DAT](INFO): publishing transmit ping time
2025-06-25T20:24:47.073Z,1750883087.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.011566
2025-06-25T20:24:47.217Z,1750883087.217 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-25T20:24:47.217Z,1750883087.217 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-25T20:24:47.219Z,1750883087.219 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-25T20:24:47.219Z,1750883087.219 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-25T20:24:47.309Z,1750883087.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247696
2025-06-25T20:24:47.511Z,1750883087.511 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-25T20:24:47.511Z,1750883087.511 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-25T20:24:47.511Z,1750883087.511 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-25T20:24:47.516Z,1750883087.516 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-25T20:24:47.518Z,1750883087.518 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-25T20:24:47.518Z,1750883087.518 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-25T20:24:47.518Z,1750883087.518 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-25T20:24:47.518Z,1750883087.518 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-25T20:24:47.518Z,1750883087.518 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-25T20:24:47.518Z,1750883087.518 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-25T20:24:47.519Z,1750883087.519 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-25T20:24:47.519Z,1750883087.519 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-25T20:24:47.519Z,1750883087.519 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-25T20:24:47.519Z,1750883087.519 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-25T20:24:47.519Z,1750883087.519 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-25T20:24:47.519Z,1750883087.519 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-25T20:24:47.524Z,1750883087.524 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-25T20:24:47.524Z,1750883087.524 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-25T20:24:47.524Z,1750883087.524 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-25T20:24:47.524Z,1750883087.524 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-25T20:24:47.524Z,1750883087.524 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-25T20:24:47.524Z,1750883087.524 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-25T20:24:47.525Z,1750883087.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-25T20:24:47.525Z,1750883087.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-25T20:24:47.525Z,1750883087.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-25T20:24:47.525Z,1750883087.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-25T20:24:47.525Z,1750883087.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-25T20:24:47.525Z,1750883087.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-25T20:24:47.526Z,1750883087.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-25T20:24:47.527Z,1750883087.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-25T20:24:47.561Z,1750883087.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500437
2025-06-25T20:24:47.813Z,1750883087.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752043
2025-06-25T20:24:47.907Z,1750883087.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-25T20:24:47.908Z,1750883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-25T20:24:47.909Z,1750883087.909 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-25T20:24:47.910Z,1750883087.910 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-25T20:24:47.910Z,1750883087.910 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-25T20:24:47.911Z,1750883087.911 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.419231 m.
2025-06-25T20:24:47.969Z,1750883087.969 [DockingStepper](INFO): Resume
2025-06-25T20:24:48.067Z,1750883088.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005734
2025-06-25T20:24:48.317Z,1750883088.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255794
2025-06-25T20:24:48.338Z,1750883088.338 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-25T20:24:48.402Z,1750883088.402 [DockingStepper](INFO): Resuming
2025-06-25T20:24:48.569Z,1750883088.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507760
2025-06-25T20:24:48.729Z,1750883088.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:48.793Z,1750883088.793 [DockingStepper](INFO): Start
2025-06-25T20:24:48.793Z,1750883088.793 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-25T20:24:48.821Z,1750883088.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759796
2025-06-25T20:24:48.913Z,1750883088.913 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-25T20:24:49.073Z,1750883089.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011746
2025-06-25T20:24:49.325Z,1750883089.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264370
2025-06-25T20:24:49.433Z,1750883089.432 [DockingStepper](INFO): Starting
2025-06-25T20:24:49.577Z,1750883089.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516135
2025-06-25T20:24:49.609Z,1750883089.609 [DockingStepper](INFO): Starting
2025-06-25T20:24:49.829Z,1750883089.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767967
2025-06-25T20:24:50.045Z,1750883090.045 [DockingStepper](INFO): Starting
2025-06-25T20:24:50.082Z,1750883090.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020469
2025-06-25T20:24:50.097Z,1750883090.097 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-25T20:24:50.333Z,1750883090.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272325
2025-06-25T20:24:50.476Z,1750883090.476 [DockingStepper](INFO): Starting
2025-06-25T20:24:50.585Z,1750883090.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523715
2025-06-25T20:24:50.774Z,1750883090.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:50.837Z,1750883090.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776253
2025-06-25T20:24:50.973Z,1750883090.973 [DockingStepper](INFO): Starting
2025-06-25T20:24:51.089Z,1750883091.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027688
2025-06-25T20:24:51.341Z,1750883091.341 [DAT](INFO): DAT read: Rx Time:20:24:51.9748

2025-06-25T20:24:51.342Z,1750883091.342 [DAT](INFO): Rx dataTimestamp_ set to:1750883091.341522
2025-06-25T20:24:51.342Z,1750883091.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281316
2025-06-25T20:24:51.392Z,1750883091.392 [DockingStepper](INFO): Starting
2025-06-25T20:24:51.593Z,1750883091.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531711
2025-06-25T20:24:51.609Z,1750883091.609 [DockingStepper](INFO): Starting
2025-06-25T20:24:51.632Z,1750883091.632 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-25T20:24:51.845Z,1750883091.845 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:24:51.845Z,1750883091.845 [DAT](INFO): Received a bad header
2025-06-25T20:24:51.856Z,1750883091.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795299
2025-06-25T20:24:52.013Z,1750883092.013 [DockingStepper](INFO): Starting
2025-06-25T20:24:52.097Z,1750883092.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035697
2025-06-25T20:24:52.349Z,1750883092.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287833
2025-06-25T20:24:52.449Z,1750883092.449 [DockingStepper](INFO): Changing to mode: 1
2025-06-25T20:24:52.449Z,1750883092.449 [DockingStepper](INFO): Standby mode.
2025-06-25T20:24:52.601Z,1750883092.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539687
2025-06-25T20:24:52.798Z,1750883092.798 [DockingStepper](INFO): Changing to mode: 3
2025-06-25T20:24:52.798Z,1750883092.798 [DockingStepper](INFO): Detach mode.
2025-06-25T20:24:52.853Z,1750883092.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791769
2025-06-25T20:24:52.860Z,1750883092.860 [DockingStepper](INFO): Commanding negative:54599
2025-06-25T20:24:53.105Z,1750883093.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043806
2025-06-25T20:24:53.199Z,1750883093.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:53.357Z,1750883093.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295642
2025-06-25T20:24:53.609Z,1750883093.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547780
2025-06-25T20:24:53.861Z,1750883093.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799764
2025-06-25T20:24:54.113Z,1750883094.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051713
2025-06-25T20:24:54.365Z,1750883094.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303784
2025-06-25T20:24:54.617Z,1750883094.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555749
2025-06-25T20:24:54.870Z,1750883094.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808839
2025-06-25T20:24:55.121Z,1750883095.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059854
2025-06-25T20:24:55.215Z,1750883095.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:55.373Z,1750883095.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312162
2025-06-25T20:24:55.625Z,1750883095.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563839
2025-06-25T20:24:55.877Z,1750883095.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815710
2025-06-25T20:24:56.129Z,1750883096.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067791
2025-06-25T20:24:56.381Z,1750883096.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319707
2025-06-25T20:24:56.633Z,1750883096.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571748
2025-06-25T20:24:56.887Z,1750883096.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825307
2025-06-25T20:24:57.136Z,1750883097.136 [DAT](INFO): Reached modem response timeout
2025-06-25T20:24:57.137Z,1750883097.137 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:24:57.137Z,1750883097.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:24:57.389Z,1750883097.389 [DAT](INFO): DAT read: 

2025-06-25T20:24:57.389Z,1750883097.389 [DAT](INFO): Reached modem response timeout
2025-06-25T20:24:57.389Z,1750883097.389 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:24:57.390Z,1750883097.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:24:57.638Z,1750883097.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:57.641Z,1750883097.641 [DAT](INFO): Reached modem response timeout
2025-06-25T20:24:57.641Z,1750883097.641 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:24:57.641Z,1750883097.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:24:57.893Z,1750883097.893 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:24:57.893Z,1750883097.893 [DAT](INFO): response not received
2025-06-25T20:24:57.894Z,1750883097.894 [DAT](INFO): DAT read: user:533>

2025-06-25T20:24:57.894Z,1750883097.894 [DAT](INFO): DAT read: Tx time:20:24:59.1793

2025-06-25T20:24:57.895Z,1750883097.895 [DAT](INFO): Ping request sent.
2025-06-25T20:24:57.895Z,1750883097.895 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:24:57.895Z,1750883097.895 [DAT](INFO): publishing transmit ping time
2025-06-25T20:24:57.895Z,1750883097.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716
2025-06-25T20:24:58.145Z,1750883098.145 [DAT](INFO): DAT read: TxSync time:20:24:59.1786

2025-06-25T20:24:58.146Z,1750883098.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250988
2025-06-25T20:24:58.397Z,1750883098.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502723
2025-06-25T20:24:58.649Z,1750883098.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754327
2025-06-25T20:24:58.816Z,1750883098.816 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-25T20:24:58.902Z,1750883098.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006842
2025-06-25T20:24:59.153Z,1750883099.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258060
2025-06-25T20:24:59.405Z,1750883099.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510071
2025-06-25T20:24:59.648Z,1750883099.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:24:59.657Z,1750883099.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762493
2025-06-25T20:24:59.909Z,1750883099.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014123
2025-06-25T20:25:00.161Z,1750883100.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266053
2025-06-25T20:25:00.413Z,1750883100.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518149
2025-06-25T20:25:00.665Z,1750883100.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770530
2025-06-25T20:25:00.917Z,1750883100.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022452
2025-06-25T20:25:01.169Z,1750883101.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274319
2025-06-25T20:25:01.421Z,1750883101.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526060
2025-06-25T20:25:01.673Z,1750883101.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778682
2025-06-25T20:25:01.691Z,1750883101.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:25:01.925Z,1750883101.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030037
2025-06-25T20:25:02.178Z,1750883102.178 [DAT](INFO): DAT read: Rx Time:20:25:02.9319

2025-06-25T20:25:02.178Z,1750883102.178 [DAT](INFO): Rx dataTimestamp_ set to:1750883102.178142
2025-06-25T20:25:02.179Z,1750883102.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284273
2025-06-25T20:25:02.429Z,1750883102.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534099
2025-06-25T20:25:02.682Z,1750883102.682 [DAT](INFO): DAT read: Range 10 to 50 : 1011.3 m  (Round-trip  1348.4 ms) speed -0.4 m/s

2025-06-25T20:25:02.683Z,1750883102.683 [DAT](INFO): DAT read: user:534>

2025-06-25T20:25:02.684Z,1750883102.684 [DAT](INFO): DAT read: Tx time:20:25:04.0294

2025-06-25T20:25:02.684Z,1750883102.684 [DAT](INFO): Ping request sent.
2025-06-25T20:25:02.684Z,1750883102.684 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:25:02.685Z,1750883102.685 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:25:02.685Z,1750883102.685 [DAT](INFO): publishing transmit ping time
2025-06-25T20:25:02.685Z,1750883102.685 [DAT](INFO): publishing transmit ping time
2025-06-25T20:25:02.934Z,1750883102.934 [DAT](INFO): DAT read: TxSync time:20:25:04.0287

2025-06-25T20:25:03.278Z,1750883103.278 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-25T20:25:03.279Z,1750883103.279 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-25T20:25:03.279Z,1750883103.279 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-25T20:25:03.280Z,1750883103.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 1011.299988 m (mode  0.000000 count ).
2025-06-25T20:25:03.280Z,1750883103.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-25T20:25:03.280Z,1750883103.280 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-25T20:25:03.718Z,1750883103.718 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-25T20:25:03.718Z,1750883103.718 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-25T20:25:04.082Z,1750883104.082 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-25T20:25:04.082Z,1750883104.082 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-25T20:25:04.488Z,1750883104.488 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-25T20:25:04.488Z,1750883104.488 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-25T20:25:04.488Z,1750883104.488 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-25T20:25:04.488Z,1750883104.488 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-25T20:25:06.969Z,1750883106.969 [DAT](INFO): DAT read: Rx Time:20:25:07.7838

2025-06-25T20:25:06.969Z,1750883106.969 [DAT](INFO): Rx dataTimestamp_ set to:1750883106.968901
2025-06-25T20:25:07.730Z,1750883107.730 [DAT](INFO): DAT read: 20:25:07.7838 LVL= 16880, 17585, 16498, 18707, AGC= 71, IDX= 463, 0.02,-2.885,-0.332,-1.767,-1.984, PHS=-0.814, 1.699, 0.214, RAW= 306.0, -10.1, CAL= 310.8, -13.8, ROT= 199.2,  13.8

2025-06-25T20:25:07.731Z,1750883107.731 [DAT](INFO): got valid direction response:
 20:25:07.7838 LVL= 16880, 17585, 16498, 18707, AGC= 71, IDX= 463, 0.02,-2.885,-0.332,-1.767,-1.984, PHS=-0.814, 1.699, 0.214, RAW= 306.0, -10.1, CAL= 310.8, -13.8, ROT= 199.2,  13.8

2025-06-25T20:25:07.733Z,1750883107.733 [DAT](INFO): DAT read: Bearing 199.2,  13.8 (Local)

2025-06-25T20:25:07.733Z,1750883107.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.2,  13.8 (Local)

2025-06-25T20:25:07.734Z,1750883107.734 [DAT](INFO): DAT read: Range 10 to 50 : 1012.6 m  (Round-trip  1350.2 ms) speed -0.2 m/s

2025-06-25T20:25:07.735Z,1750883107.735 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-25T20:25:07.736Z,1750883107.736 [DAT](INFO): direction in FSK: [-0.917116,-0.319374,-0.238533]
2025-06-25T20:25:07.736Z,1750883107.736 [DAT](INFO): publishing direction and range info
2025-06-25T20:25:11.451Z,1750883111.451 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:25:12.454Z,1750883112.454 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:25:19.026Z,1750883119.026 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 1012.60 m. Transitioning docking module to standby.
2025-06-25T20:25:19.473Z,1750883119.473 [DockingStepper](INFO): Changing to mode: 1
2025-06-25T20:25:19.473Z,1750883119.473 [DockingStepper](INFO): Standby mode.
2025-06-25T20:25:19.536Z,1750883119.536 [DockingStepper](INFO): Commanding positive:54783
2025-06-25T20:25:25.481Z,1750883125.481 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-25T20:25:25.910Z,1750883125.910 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-25T20:25:25.910Z,1750883125.910 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-25T20:25:25.910Z,1750883125.910 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-25T20:25:26.315Z,1750883126.315 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-25T20:25:26.315Z,1750883126.315 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-25T20:25:26.315Z,1750883126.315 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-25T20:25:26.357Z,1750883126.357 [DockingStepper](INFO): Pause
2025-06-25T20:25:26.785Z,1750883126.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-25T20:25:26.785Z,1750883126.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-25T20:25:26.785Z,1750883126.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-25T20:25:26.785Z,1750883126.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-25T20:25:26.785Z,1750883126.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-25T20:25:27.124Z,1750883127.124 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-25T20:25:27.125Z,1750883127.125 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-25T20:25:27.125Z,1750883127.125 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-25T20:25:27.125Z,1750883127.125 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-25T20:25:27.125Z,1750883127.125 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-25T20:25:27.125Z,1750883127.125 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-25T20:25:27.126Z,1750883127.126 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-25T20:25:27.127Z,1750883127.127 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-25T20:25:27.127Z,1750883127.127 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-25T20:25:27.127Z,1750883127.127 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-25T20:25:27.145Z,1750883127.145 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-25T20:25:27.516Z,1750883127.516 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-25T20:25:42.576Z,1750883142.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:25:43.580Z,1750883143.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:26:02.001Z,1750883162.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:26:02.215Z,1750883162.215 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:26:02.216Z,1750883162.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:26:02.465Z,1750883162.465 [DAT](INFO): DAT read: user:535>

2025-06-25T20:26:02.466Z,1750883162.466 [DAT](INFO): DAT read: Tx time:20:26:03.6297

2025-06-25T20:26:02.466Z,1750883162.466 [DAT](INFO): Ping request sent.
2025-06-25T20:26:02.466Z,1750883162.466 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:26:02.467Z,1750883162.467 [DAT](INFO): DAT read: TxSync time:20:26:03.6290

2025-06-25T20:26:02.467Z,1750883162.467 [DAT](INFO): publishing transmit ping time
2025-06-25T20:26:02.468Z,1750883162.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001665
2025-06-25T20:26:02.717Z,1750883162.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250491
2025-06-25T20:26:02.969Z,1750883162.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502723
2025-06-25T20:26:03.223Z,1750883163.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756645
2025-06-25T20:26:03.473Z,1750883163.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006501
2025-06-25T20:26:03.725Z,1750883163.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258549
2025-06-25T20:26:03.977Z,1750883163.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510433
2025-06-25T20:26:04.231Z,1750883164.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764662
2025-06-25T20:26:04.481Z,1750883164.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015103
2025-06-25T20:26:04.733Z,1750883164.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266443
2025-06-25T20:26:04.986Z,1750883164.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519379
2025-06-25T20:26:05.240Z,1750883165.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773267
2025-06-25T20:26:05.489Z,1750883165.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023005
2025-06-25T20:26:05.741Z,1750883165.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274804
2025-06-25T20:26:05.993Z,1750883165.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526353
2025-06-25T20:26:06.245Z,1750883166.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779042
2025-06-25T20:26:06.498Z,1750883166.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031930
2025-06-25T20:26:06.749Z,1750883166.749 [DAT](INFO): DAT read: Rx Time:20:26:07.4125

2025-06-25T20:26:06.749Z,1750883166.749 [DAT](INFO): Rx dataTimestamp_ set to:1750883166.748995
2025-06-25T20:26:06.751Z,1750883166.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284404
2025-06-25T20:26:07.001Z,1750883167.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534372
2025-06-25T20:26:07.281Z,1750883167.281 [DAT](INFO): DAT read: 20:26:07.4125 LVL= 25840, 15185, 15714, 22147, AGC= 77, IDX= 190, 0.48, 3.110,-1.228,-1.030,-1.756, PHS=-1.329, 0.575, 0.722, RAW= 266.3,   0.3, CAL= 268.2,   0.2, ROT= 241.8,  -0.2

2025-06-25T20:26:07.301Z,1750883167.301 [DAT](INFO): got valid direction response:
 20:26:07.4125 LVL= 25840, 15185, 15714, 22147, AGC= 77, IDX= 190, 0.48, 3.110,-1.228,-1.030,-1.756, PHS=-1.329, 0.575, 0.722, RAW= 266.3,   0.3, CAL= 268.2,   0.2, ROT= 241.8,  -0.2

2025-06-25T20:26:07.303Z,1750883167.303 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:26:07.313Z,1750883167.313 [DAT](INFO): Received a bad header
2025-06-25T20:26:07.324Z,1750883167.324 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:26:07.325Z,1750883167.325 [DAT](INFO): direction in FSK: [-0.472548,-0.881298,0.003491]
2025-06-25T20:26:12.557Z,1750883172.557 [DAT](INFO): Reached modem response timeout
2025-06-25T20:26:13.313Z,1750883173.313 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:26:13.313Z,1750883173.313 [DAT](INFO): response not received
2025-06-25T20:26:13.313Z,1750883173.313 [DAT](ERROR): No response from remote modem.
2025-06-25T20:26:13.713Z,1750883173.713 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:26:14.724Z,1750883174.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:26:16.672Z,1750883176.672 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-25T20:26:44.850Z,1750883204.850 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:26:45.854Z,1750883205.854 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:26:47.463Z,1750883207.463 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-25T20:26:49.097Z,1750883209.097 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       +97.89,0.00
2025-06-25T20:27:02.021Z,1750883222.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:27:02.245Z,1750883222.245 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:27:02.245Z,1750883222.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:27:02.497Z,1750883222.497 [DAT](INFO): DAT read: 

2025-06-25T20:27:02.498Z,1750883222.498 [DAT](INFO): DAT read: Tx time:20:27:03.6802

2025-06-25T20:27:02.499Z,1750883222.499 [DAT](INFO): Ping request sent.
2025-06-25T20:27:02.499Z,1750883222.499 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:27:02.499Z,1750883222.499 [DAT](INFO): publishing transmit ping time
2025-06-25T20:27:02.500Z,1750883222.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001139
2025-06-25T20:27:02.750Z,1750883222.750 [DAT](INFO): DAT read: TxSync time:20:27:03.6794

2025-06-25T20:27:02.752Z,1750883222.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252536
2025-06-25T20:27:03.001Z,1750883223.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502070
2025-06-25T20:27:03.253Z,1750883223.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754163
2025-06-25T20:27:03.505Z,1750883223.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006116
2025-06-25T20:27:03.766Z,1750883223.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266882
2025-06-25T20:27:04.017Z,1750883224.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518312
2025-06-25T20:27:04.269Z,1750883224.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770137
2025-06-25T20:27:04.461Z,1750883224.461 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00, 140.49,   +7,A
2025-06-25T20:27:04.521Z,1750883224.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022102
2025-06-25T20:27:04.773Z,1750883224.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274044
2025-06-25T20:27:05.025Z,1750883225.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526111
2025-06-25T20:27:05.285Z,1750883225.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786114
2025-06-25T20:27:05.537Z,1750883225.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038008
2025-06-25T20:27:05.789Z,1750883225.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290095
2025-06-25T20:27:06.045Z,1750883226.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546671
2025-06-25T20:27:06.297Z,1750883226.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.798185
2025-06-25T20:27:06.565Z,1750883226.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.064098
2025-06-25T20:27:06.801Z,1750883226.801 [DAT](INFO): DAT read: Rx Time:20:27:07.4341

2025-06-25T20:27:06.801Z,1750883226.801 [DAT](INFO): Rx dataTimestamp_ set to:1750883226.801181
2025-06-25T20:27:06.802Z,1750883226.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.303316
2025-06-25T20:27:07.053Z,1750883227.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.553970
2025-06-25T20:27:07.311Z,1750883227.311 [DAT](INFO): DAT read: 20:27:07.4341 LVL= 12544, 23425, 15186, 24179, AGC= 83, IDX= 154, 0.08, 0.884,-0.864,-0.835,-0.239, PHS= 1.210,-0.578,-0.599, RAW=  89.4,  -0.4, CAL=  97.0,  -4.9, ROT=  53.0,   4.9

2025-06-25T20:27:07.320Z,1750883227.320 [DAT](INFO): got valid direction response:
 20:27:07.4341 LVL= 12544, 23425, 15186, 24179, AGC= 83, IDX= 154, 0.08, 0.884,-0.864,-0.835,-0.239, PHS= 1.210,-0.578,-0.599, RAW=  89.4,  -0.4, CAL=  97.0,  -4.9, ROT=  53.0,   4.9

2025-06-25T20:27:07.321Z,1750883227.321 [DAT](INFO): DAT read: Bearing  53.0,   4.9 (Local)

2025-06-25T20:27:07.322Z,1750883227.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0,   4.9 (Local)

2025-06-25T20:27:07.323Z,1750883227.323 [DAT](INFO): DAT read: Range 10 to 50 : 1012.3 m  (Round-trip  1349.8 ms) speed  0.3 m/s

2025-06-25T20:27:07.340Z,1750883227.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:27:07.341Z,1750883227.341 [DAT](INFO): direction in FSK: [0.599616,0.795717,-0.085417]
2025-06-25T20:27:07.342Z,1750883227.342 [DAT](INFO): publishing direction and range info
2025-06-25T20:27:15.972Z,1750883235.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:27:16.984Z,1750883236.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:27:47.108Z,1750883267.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:27:48.112Z,1750883268.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:28:02.315Z,1750883282.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:28:02.513Z,1750883282.513 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:28:02.514Z,1750883282.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:28:02.766Z,1750883282.766 [DAT](INFO): DAT read: user:537>

2025-06-25T20:28:02.768Z,1750883282.768 [DAT](INFO): DAT read: Tx time:20:28:03.9306

2025-06-25T20:28:02.768Z,1750883282.768 [DAT](INFO): Ping request sent.
2025-06-25T20:28:02.768Z,1750883282.768 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:28:02.769Z,1750883282.769 [DAT](INFO): DAT read: TxSync time:20:28:03.9298

2025-06-25T20:28:02.769Z,1750883282.769 [DAT](INFO): publishing transmit ping time
2025-06-25T20:28:02.770Z,1750883282.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001586
2025-06-25T20:28:03.019Z,1750883283.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250468
2025-06-25T20:28:03.269Z,1750883283.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500228
2025-06-25T20:28:03.525Z,1750883283.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756312
2025-06-25T20:28:03.777Z,1750883283.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008466
2025-06-25T20:28:04.032Z,1750883284.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263021
2025-06-25T20:28:04.281Z,1750883284.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512524
2025-06-25T20:28:04.533Z,1750883284.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764544
2025-06-25T20:28:04.795Z,1750883284.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026598
2025-06-25T20:28:05.052Z,1750883285.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282983
2025-06-25T20:28:05.301Z,1750883285.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532287
2025-06-25T20:28:05.553Z,1750883285.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784315
2025-06-25T20:28:05.805Z,1750883285.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036268
2025-06-25T20:28:06.060Z,1750883286.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290623
2025-06-25T20:28:06.309Z,1750883286.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540291
2025-06-25T20:28:06.561Z,1750883286.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792297
2025-06-25T20:28:06.815Z,1750883286.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046128
2025-06-25T20:28:07.067Z,1750883287.067 [DAT](INFO): DAT read: Rx Time:20:28:07.6447

2025-06-25T20:28:07.069Z,1750883287.069 [DAT](INFO): Rx dataTimestamp_ set to:1750883287.068224
2025-06-25T20:28:07.071Z,1750883287.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302110
2025-06-25T20:28:07.317Z,1750883287.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.548220
2025-06-25T20:28:07.570Z,1750883287.570 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:28:07.570Z,1750883287.570 [DAT](INFO): Received a bad header
2025-06-25T20:28:07.584Z,1750883287.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.815741
2025-06-25T20:28:07.821Z,1750883287.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.052244
2025-06-25T20:28:08.080Z,1750883288.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.311002
2025-06-25T20:28:08.333Z,1750883288.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.564265
2025-06-25T20:28:08.585Z,1750883288.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.816766
2025-06-25T20:28:08.837Z,1750883288.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.068263
2025-06-25T20:28:09.091Z,1750883289.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.322165
2025-06-25T20:28:09.342Z,1750883289.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.573647
2025-06-25T20:28:09.593Z,1750883289.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.824423
2025-06-25T20:28:09.845Z,1750883289.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.076272
2025-06-25T20:28:10.100Z,1750883290.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.331498
2025-06-25T20:28:10.349Z,1750883290.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.580579
2025-06-25T20:28:10.601Z,1750883290.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.832430
2025-06-25T20:28:10.853Z,1750883290.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.084134
2025-06-25T20:28:11.109Z,1750883291.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.339730
2025-06-25T20:28:11.357Z,1750883291.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.588324
2025-06-25T20:28:11.611Z,1750883291.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842459
2025-06-25T20:28:11.861Z,1750883291.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.092525
2025-06-25T20:28:12.116Z,1750883292.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.346844
2025-06-25T20:28:12.365Z,1750883292.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.596247
2025-06-25T20:28:12.617Z,1750883292.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.848400
2025-06-25T20:28:12.868Z,1750883292.868 [DAT](INFO): Reached modem response timeout
2025-06-25T20:28:13.625Z,1750883293.625 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:28:13.625Z,1750883293.625 [DAT](INFO): response not received
2025-06-25T20:28:13.625Z,1750883293.625 [DAT](ERROR): No response from remote modem.
2025-06-25T20:28:18.241Z,1750883298.241 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:28:19.245Z,1750883299.245 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:28:49.372Z,1750883329.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:28:50.376Z,1750883330.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:29:02.506Z,1750883342.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:29:02.565Z,1750883342.565 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:29:02.565Z,1750883342.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:29:02.817Z,1750883342.817 [DAT](INFO): DAT read: 

2025-06-25T20:29:02.817Z,1750883342.817 [DAT](INFO): DAT read: Tx time:20:29:03.9810

2025-06-25T20:29:02.818Z,1750883342.818 [DAT](INFO): Ping request sent.
2025-06-25T20:29:02.818Z,1750883342.818 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:29:02.818Z,1750883342.818 [DAT](INFO): DAT read: TxSync time:20:29:03.9802

2025-06-25T20:29:02.819Z,1750883342.819 [DAT](INFO): publishing transmit ping time
2025-06-25T20:29:02.819Z,1750883342.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001566
2025-06-25T20:29:03.069Z,1750883343.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250944
2025-06-25T20:29:03.321Z,1750883343.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503085
2025-06-25T20:29:03.573Z,1750883343.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755042
2025-06-25T20:29:03.825Z,1750883343.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006997
2025-06-25T20:29:04.077Z,1750883344.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246
2025-06-25T20:29:04.329Z,1750883344.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511029
2025-06-25T20:29:04.581Z,1750883344.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763364
2025-06-25T20:29:04.833Z,1750883344.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014967
2025-06-25T20:29:05.085Z,1750883345.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267422
2025-06-25T20:29:05.337Z,1750883345.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519064
2025-06-25T20:29:05.589Z,1750883345.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771018
2025-06-25T20:29:05.841Z,1750883345.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023017
2025-06-25T20:29:06.093Z,1750883346.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885
2025-06-25T20:29:06.345Z,1750883346.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527325
2025-06-25T20:29:06.597Z,1750883346.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779136
2025-06-25T20:29:06.849Z,1750883346.849 [DAT](INFO): DAT read: Rx Time:20:29:07.6382

2025-06-25T20:29:06.849Z,1750883346.849 [DAT](INFO): Rx dataTimestamp_ set to:1750883346.848983
2025-06-25T20:29:06.850Z,1750883346.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032031
2025-06-25T20:29:07.101Z,1750883347.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283343
2025-06-25T20:29:07.355Z,1750883347.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536476
2025-06-25T20:29:07.611Z,1750883347.611 [DAT](INFO): DAT read: 20:29:07.6382 LVL= 32752, 31073, 26530, 32755, AGC= 86, IDX= 396,-0.05, 1.633, 0.157, 1.798, 1.215, PHS= 0.506,-1.011, 0.580, RAW= 152.4,  -1.0, CAL= 155.6,  -9.8, ROT= 354.4,   9.8

2025-06-25T20:29:07.612Z,1750883347.612 [DAT](INFO): got valid direction response:
 20:29:07.6382 LVL= 32752, 31073, 26530, 32755, AGC= 86, IDX= 396,-0.05, 1.633, 0.157, 1.798, 1.215, PHS= 0.506,-1.011, 0.580, RAW= 152.4,  -1.0, CAL= 155.6,  -9.8, ROT= 354.4,   9.8

2025-06-25T20:29:07.612Z,1750883347.612 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:29:07.613Z,1750883347.613 [DAT](INFO): Received a bad header
2025-06-25T20:29:07.624Z,1750883347.624 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:29:07.625Z,1750883347.625 [DAT](INFO): direction in FSK: [0.980705,-0.096159,-0.170209]
2025-06-25T20:29:12.896Z,1750883352.896 [DAT](INFO): Reached modem response timeout
2025-06-25T20:29:13.653Z,1750883353.653 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:29:13.654Z,1750883353.654 [DAT](INFO): response not received
2025-06-25T20:29:13.654Z,1750883353.654 [DAT](ERROR): No response from remote modem.
2025-06-25T20:29:20.496Z,1750883360.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:29:21.500Z,1750883361.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:29:51.621Z,1750883391.621 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:29:52.625Z,1750883392.625 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:29:56.774Z,1750883396.774 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062512310766,35.0,  +9.8,   0.0,1489.:RA,  0.00, 143.83, 130.94, 133.65, 141.11
2025-06-25T20:30:02.702Z,1750883402.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:30:02.835Z,1750883402.835 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:30:02.836Z,1750883402.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:30:03.084Z,1750883403.084 [DAT](INFO): DAT read: 

2025-06-25T20:30:03.085Z,1750883403.085 [DAT](INFO): DAT read: Tx time:20:30:04.2814

2025-06-25T20:30:03.085Z,1750883403.085 [DAT](INFO): Ping request sent.
2025-06-25T20:30:03.085Z,1750883403.085 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:30:03.086Z,1750883403.086 [DAT](INFO): publishing transmit ping time
2025-06-25T20:30:03.086Z,1750883403.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-06-25T20:30:03.337Z,1750883403.337 [DAT](INFO): DAT read: TxSync time:20:30:04.2806

2025-06-25T20:30:03.338Z,1750883403.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252408
2025-06-25T20:30:03.589Z,1750883403.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503337
2025-06-25T20:30:03.841Z,1750883403.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755274
2025-06-25T20:30:04.093Z,1750883404.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007446
2025-06-25T20:30:04.346Z,1750883404.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260110
2025-06-25T20:30:04.597Z,1750883404.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511205
2025-06-25T20:30:04.851Z,1750883404.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765332
2025-06-25T20:30:05.105Z,1750883405.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019257
2025-06-25T20:30:05.357Z,1750883405.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271273
2025-06-25T20:30:05.610Z,1750883405.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524165
2025-06-25T20:30:05.864Z,1750883405.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777660
2025-06-25T20:30:06.113Z,1750883406.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027180
2025-06-25T20:30:06.365Z,1750883406.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279307
2025-06-25T20:30:06.617Z,1750883406.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531336
2025-06-25T20:30:06.871Z,1750883406.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785288
2025-06-25T20:30:07.121Z,1750883407.121 [DAT](INFO): DAT read: Rx Time:20:30:07.8809

2025-06-25T20:30:07.121Z,1750883407.121 [DAT](INFO): Rx dataTimestamp_ set to:1750883407.121106
2025-06-25T20:30:07.122Z,1750883407.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036391
2025-06-25T20:30:07.373Z,1750883407.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287265
2025-06-25T20:30:07.631Z,1750883407.631 [DAT](INFO): DAT read: 20:30:07.8809 LVL= 32752, 32753, 25266, 32755, AGC= 84, IDX= 380,-0.15,-2.401, 2.454,-2.366,-2.855, PHS= 0.542,-0.927, 0.486, RAW= 148.1,  -1.4, CAL= 152.0, -10.4, ROT= 358.0,  10.4

2025-06-25T20:30:07.632Z,1750883407.632 [DAT](INFO): got valid direction response:
 20:30:07.8809 LVL= 32752, 32753, 25266, 32755, AGC= 84, IDX= 380,-0.15,-2.401, 2.454,-2.366,-2.855, PHS= 0.542,-0.927, 0.486, RAW= 148.1,  -1.4, CAL= 152.0, -10.4, ROT= 358.0,  10.4

2025-06-25T20:30:07.633Z,1750883407.633 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:30:07.633Z,1750883407.633 [DAT](INFO): Received a bad header
2025-06-25T20:30:07.656Z,1750883407.656 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:30:07.658Z,1750883407.658 [DAT](INFO): direction in FSK: [0.982972,-0.034326,-0.180519]
2025-06-25T20:30:13.176Z,1750883413.176 [DAT](INFO): Reached modem response timeout
2025-06-25T20:30:13.936Z,1750883413.936 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:30:13.937Z,1750883413.937 [DAT](INFO): response not received
2025-06-25T20:30:13.937Z,1750883413.937 [DAT](ERROR): No response from remote modem.
2025-06-25T20:30:22.744Z,1750883422.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:30:23.748Z,1750883423.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:30:53.868Z,1750883453.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:30:54.872Z,1750883454.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:31:02.943Z,1750883462.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:31:03.100Z,1750883463.100 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:31:03.101Z,1750883463.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:31:03.353Z,1750883463.353 [DAT](INFO): DAT read: 

2025-06-25T20:31:03.353Z,1750883463.353 [DAT](INFO): DAT read: Tx time:20:31:04.5318

2025-06-25T20:31:03.354Z,1750883463.354 [DAT](INFO): Ping request sent.
2025-06-25T20:31:03.354Z,1750883463.354 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:31:03.354Z,1750883463.354 [DAT](INFO): publishing transmit ping time
2025-06-25T20:31:03.355Z,1750883463.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-06-25T20:31:03.605Z,1750883463.605 [DAT](INFO): DAT read: TxSync time:20:31:04.5311

2025-06-25T20:31:03.606Z,1750883463.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251970
2025-06-25T20:31:03.857Z,1750883463.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502953
2025-06-25T20:31:04.112Z,1750883464.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758481
2025-06-25T20:31:04.361Z,1750883464.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007050
2025-06-25T20:31:04.613Z,1750883464.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259220
2025-06-25T20:31:04.865Z,1750883464.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510977
2025-06-25T20:31:05.117Z,1750883465.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763295
2025-06-25T20:31:05.369Z,1750883465.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014915
2025-06-25T20:31:05.622Z,1750883465.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267821
2025-06-25T20:31:05.873Z,1750883465.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518960
2025-06-25T20:31:06.125Z,1750883466.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771024
2025-06-25T20:31:06.378Z,1750883466.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023997
2025-06-25T20:31:06.629Z,1750883466.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275063
2025-06-25T20:31:06.881Z,1750883466.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526919
2025-06-25T20:31:06.959Z,1750883466.959 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,    +9,  +705,
2025-06-25T20:31:07.136Z,1750883467.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782163
2025-06-25T20:31:07.385Z,1750883467.385 [DAT](INFO): DAT read: Rx Time:20:31:08.0738

2025-06-25T20:31:07.385Z,1750883467.385 [DAT](INFO): Rx dataTimestamp_ set to:1750883467.385205
2025-06-25T20:31:07.386Z,1750883467.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032229
2025-06-25T20:31:07.637Z,1750883467.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282907
2025-06-25T20:31:07.889Z,1750883467.889 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:31:07.889Z,1750883467.889 [DAT](INFO): Received a bad header
2025-06-25T20:31:07.900Z,1750883467.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546471
2025-06-25T20:31:08.141Z,1750883468.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787056
2025-06-25T20:31:08.393Z,1750883468.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038964
2025-06-25T20:31:08.646Z,1750883468.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292316
2025-06-25T20:31:08.897Z,1750883468.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542949
2025-06-25T20:31:09.149Z,1750883469.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794912
2025-06-25T20:31:09.401Z,1750883469.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047066
2025-06-25T20:31:09.653Z,1750883469.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299241
2025-06-25T20:31:09.905Z,1750883469.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551093
2025-06-25T20:31:10.157Z,1750883470.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802914
2025-06-25T20:31:10.409Z,1750883470.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055075
2025-06-25T20:31:10.661Z,1750883470.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307317
2025-06-25T20:31:10.913Z,1750883470.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558996
2025-06-25T20:31:11.165Z,1750883471.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810984
2025-06-25T20:31:11.417Z,1750883471.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062987
2025-06-25T20:31:11.669Z,1750883471.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315492
2025-06-25T20:31:11.921Z,1750883471.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567269
2025-06-25T20:31:12.173Z,1750883472.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818914
2025-06-25T20:31:12.425Z,1750883472.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070941
2025-06-25T20:31:12.677Z,1750883472.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323309
2025-06-25T20:31:12.929Z,1750883472.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574938
2025-06-25T20:31:13.181Z,1750883473.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827324
2025-06-25T20:31:13.433Z,1750883473.433 [DAT](INFO): Reached modem response timeout
2025-06-25T20:31:14.189Z,1750883474.189 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:31:14.189Z,1750883474.189 [DAT](INFO): response not received
2025-06-25T20:31:14.189Z,1750883474.189 [DAT](ERROR): No response from remote modem.
2025-06-25T20:31:24.997Z,1750883484.997 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:31:26.001Z,1750883486.001 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:31:56.129Z,1750883516.129 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:31:57.133Z,1750883517.133 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:32:03.115Z,1750883523.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:32:03.349Z,1750883523.349 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:32:03.349Z,1750883523.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:32:03.603Z,1750883523.603 [DAT](INFO): DAT read: 

2025-06-25T20:32:03.605Z,1750883523.605 [DAT](INFO): DAT read: Tx time:20:32:04.7822

2025-06-25T20:32:03.606Z,1750883523.606 [DAT](INFO): Ping request sent.
2025-06-25T20:32:03.606Z,1750883523.606 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:32:03.606Z,1750883523.606 [DAT](INFO): publishing transmit ping time
2025-06-25T20:32:03.607Z,1750883523.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-06-25T20:32:03.853Z,1750883523.853 [DAT](INFO): DAT read: TxSync time:20:32:04.7814

2025-06-25T20:32:03.854Z,1750883523.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247985
2025-06-25T20:32:04.105Z,1750883524.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498832
2025-06-25T20:32:04.357Z,1750883524.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750885
2025-06-25T20:32:04.614Z,1750883524.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007590
2025-06-25T20:32:04.861Z,1750883524.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254877
2025-06-25T20:32:05.113Z,1750883525.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506889
2025-06-25T20:32:05.365Z,1750883525.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758855
2025-06-25T20:32:05.620Z,1750883525.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013293
2025-06-25T20:32:05.869Z,1750883525.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262769
2025-06-25T20:32:06.121Z,1750883526.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514812
2025-06-25T20:32:06.375Z,1750883526.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769134
2025-06-25T20:32:06.627Z,1750883526.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020853
2025-06-25T20:32:06.877Z,1750883526.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271340
2025-06-25T20:32:07.132Z,1750883527.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525571
2025-06-25T20:32:07.382Z,1750883527.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776486
2025-06-25T20:32:07.636Z,1750883527.636 [DAT](INFO): DAT read: Rx Time:20:32:08.2676

2025-06-25T20:32:07.638Z,1750883527.638 [DAT](INFO): Rx dataTimestamp_ set to:1750883527.636921
2025-06-25T20:32:07.640Z,1750883527.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033091
2025-06-25T20:32:07.885Z,1750883527.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278840
2025-06-25T20:32:08.143Z,1750883528.143 [DAT](INFO): DAT read: 20:32:08.2676 LVL= 28656, 32753, 27090, 32755, AGC= 83, IDX= 396, 0.07, 0.259,-1.169, 0.056,-0.251, PHS= 0.598,-0.871, 0.304, RAW= 139.1,  -0.5, CAL= 143.8,  -9.5, ROT=   6.2,   9.5

2025-06-25T20:32:08.144Z,1750883528.144 [DAT](INFO): got valid direction response:
 20:32:08.2676 LVL= 28656, 32753, 27090, 32755, AGC= 83, IDX= 396, 0.07, 0.259,-1.169, 0.056,-0.251, PHS= 0.598,-0.871, 0.304, RAW= 139.1,  -0.5, CAL= 143.8,  -9.5, ROT=   6.2,   9.5

2025-06-25T20:32:08.145Z,1750883528.145 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:32:08.145Z,1750883528.145 [DAT](INFO): Received a bad header
2025-06-25T20:32:08.156Z,1750883528.156 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:32:08.157Z,1750883528.157 [DAT](INFO): direction in FSK: [0.980517,0.106518,-0.165048]
2025-06-25T20:32:13.681Z,1750883533.681 [DAT](INFO): Reached modem response timeout
2025-06-25T20:32:14.441Z,1750883534.441 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:32:14.441Z,1750883534.441 [DAT](INFO): response not received
2025-06-25T20:32:14.441Z,1750883534.441 [DAT](ERROR): No response from remote modem.
2025-06-25T20:32:27.258Z,1750883547.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:32:28.260Z,1750883548.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:32:33.361Z,1750883553.361 [DAT](INFO): DAT read: Rx Time:20:32:33.9389

2025-06-25T20:32:33.362Z,1750883553.362 [DAT](INFO): Rx dataTimestamp_ set to:1750883553.361284
2025-06-25T20:32:33.871Z,1750883553.871 [DAT](INFO): DAT read: 20:32:33.9389 LVL= 30160, 25633, 21362, 32755, AGC= 87, IDX= 197,-0.09, 2.674, 1.217, 2.501, 2.101, PHS= 0.662,-0.837, 0.397, RAW= 140.5,  -3.2, CAL= 145.7, -12.6, ROT=   4.3,  12.6

2025-06-25T20:32:33.872Z,1750883553.872 [DAT](INFO): got valid direction response:
 20:32:33.9389 LVL= 30160, 25633, 21362, 32755, AGC= 87, IDX= 197,-0.09, 2.674, 1.217, 2.501, 2.101, PHS= 0.662,-0.837, 0.397, RAW= 140.5,  -3.2, CAL= 145.7, -12.6, ROT=   4.3,  12.6

2025-06-25T20:32:33.873Z,1750883553.873 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:32:33.873Z,1750883553.873 [DAT](INFO): Received a bad header
2025-06-25T20:32:33.884Z,1750883553.884 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-25T20:32:33.885Z,1750883553.885 [DAT](INFO): direction in FSK: [0.973170,0.073173,-0.218143]
2025-06-25T20:32:35.877Z,1750883555.877 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-25T20:22:35.8Z
2025-06-25T20:32:35.877Z,1750883555.877 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-25T20:32:35.877Z,1750883555.877 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:32:35.877Z,1750883555.877 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-25T20:32:35.877Z,1750883555.877 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:32:35.877Z,1750883555.877 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-25T20:32:36.278Z,1750883556.278 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-25T20:32:36.278Z,1750883556.278 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-25T20:32:36.278Z,1750883556.278 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-25T20:32:36.278Z,1750883556.278 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:32:36.278Z,1750883556.278 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-25T20:32:58.389Z,1750883578.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:32:59.393Z,1750883579.393 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:33:03.338Z,1750883583.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:33:03.364Z,1750883583.364 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:33:03.365Z,1750883583.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:33:03.616Z,1750883583.616 [DAT](INFO): DAT read: 

2025-06-25T20:33:03.617Z,1750883583.617 [DAT](INFO): DAT read: Tx time:20:33:04.7827

2025-06-25T20:33:03.618Z,1750883583.618 [DAT](INFO): Ping request sent.
2025-06-25T20:33:03.618Z,1750883583.618 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:33:03.618Z,1750883583.618 [DAT](INFO): DAT read: TxSync time:20:33:04.7819

2025-06-25T20:33:03.619Z,1750883583.619 [DAT](INFO): publishing transmit ping time
2025-06-25T20:33:03.619Z,1750883583.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001563
2025-06-25T20:33:03.869Z,1750883583.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251243
2025-06-25T20:33:04.125Z,1750883584.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507694
2025-06-25T20:33:04.377Z,1750883584.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759341
2025-06-25T20:33:04.629Z,1750883584.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011225
2025-06-25T20:33:04.881Z,1750883584.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263039
2025-06-25T20:33:05.133Z,1750883585.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515001
2025-06-25T20:33:05.385Z,1750883585.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767114
2025-06-25T20:33:05.637Z,1750883585.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019028
2025-06-25T20:33:05.889Z,1750883585.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271053
2025-06-25T20:33:06.145Z,1750883586.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527242
2025-06-25T20:33:06.397Z,1750883586.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779018
2025-06-25T20:33:06.650Z,1750883586.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031932
2025-06-25T20:33:06.901Z,1750883586.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283099
2025-06-25T20:33:07.153Z,1750883587.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535045
2025-06-25T20:33:07.405Z,1750883587.405 [DAT](INFO): DAT read: Rx Time:20:33:08.2126

2025-06-25T20:33:07.405Z,1750883587.405 [DAT](INFO): Rx dataTimestamp_ set to:1750883587.405087
2025-06-25T20:33:07.406Z,1750883587.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788213
2025-06-25T20:33:07.657Z,1750883587.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039515
2025-06-25T20:33:07.911Z,1750883587.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.292937
2025-06-25T20:33:08.167Z,1750883588.167 [DAT](INFO): DAT read: 20:33:08.2126 LVL= 32240, 27441, 31474, 32755, AGC= 87, IDX= 180, 0.39, 0.242,-0.919, 0.387,-0.031, PHS= 0.362,-0.841, 0.416, RAW= 152.2,   1.0, CAL= 154.9,  -7.8, ROT= 355.1,   7.8

2025-06-25T20:33:08.168Z,1750883588.168 [DAT](INFO): got valid direction response:
 20:33:08.2126 LVL= 32240, 27441, 31474, 32755, AGC= 87, IDX= 180, 0.39, 0.242,-0.919, 0.387,-0.031, PHS= 0.362,-0.841, 0.416, RAW= 152.2,   1.0, CAL= 154.9,  -7.8, ROT= 355.1,   7.8

2025-06-25T20:33:08.169Z,1750883588.169 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:33:08.169Z,1750883588.169 [DAT](INFO): Received a bad header
2025-06-25T20:33:08.181Z,1750883588.181 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:33:08.183Z,1750883588.183 [DAT](INFO): direction in FSK: [0.987127,-0.084627,-0.135716]
2025-06-25T20:33:13.712Z,1750883593.712 [DAT](INFO): Reached modem response timeout
2025-06-25T20:33:14.469Z,1750883594.469 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:33:14.469Z,1750883594.469 [DAT](INFO): response not received
2025-06-25T20:33:14.469Z,1750883594.469 [DAT](ERROR): No response from remote modem.
2025-06-25T20:33:29.524Z,1750883609.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:33:30.528Z,1750883610.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:34:00.649Z,1750883640.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:34:01.652Z,1750883641.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:34:03.558Z,1750883643.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:34:03.689Z,1750883643.689 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:34:03.689Z,1750883643.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:34:03.940Z,1750883643.940 [DAT](INFO): DAT read: 

2025-06-25T20:34:03.941Z,1750883643.941 [DAT](INFO): DAT read: Tx time:20:34:05.1331

2025-06-25T20:34:03.941Z,1750883643.941 [DAT](INFO): Ping request sent.
2025-06-25T20:34:03.942Z,1750883643.942 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:34:03.942Z,1750883643.942 [DAT](INFO): publishing transmit ping time
2025-06-25T20:34:03.942Z,1750883643.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-25T20:34:04.193Z,1750883644.193 [DAT](INFO): DAT read: TxSync time:20:34:05.1323

2025-06-25T20:34:04.194Z,1750883644.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252055
2025-06-25T20:34:04.447Z,1750883644.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505609
2025-06-25T20:34:04.697Z,1750883644.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755417
2025-06-25T20:34:04.949Z,1750883644.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007214
2025-06-25T20:34:05.201Z,1750883645.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259479
2025-06-25T20:34:05.453Z,1750883645.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511134
2025-06-25T20:34:05.708Z,1750883645.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765770
2025-06-25T20:34:05.957Z,1750883645.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015265
2025-06-25T20:34:06.209Z,1750883646.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267402
2025-06-25T20:34:06.461Z,1750883646.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519288
2025-06-25T20:34:06.713Z,1750883646.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771143
2025-06-25T20:34:06.965Z,1750883646.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023167
2025-06-25T20:34:07.217Z,1750883647.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275176
2025-06-25T20:34:07.469Z,1750883647.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527108
2025-06-25T20:34:07.721Z,1750883647.721 [DAT](INFO): DAT read: Rx Time:20:34:08.5074

2025-06-25T20:34:07.721Z,1750883647.721 [DAT](INFO): Rx dataTimestamp_ set to:1750883647.721006
2025-06-25T20:34:07.722Z,1750883647.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780208
2025-06-25T20:34:07.973Z,1750883647.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031321
2025-06-25T20:34:08.225Z,1750883648.225 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:34:08.225Z,1750883648.225 [DAT](INFO): Received a bad header
2025-06-25T20:34:08.236Z,1750883648.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294460
2025-06-25T20:34:08.477Z,1750883648.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535414
2025-06-25T20:34:08.729Z,1750883648.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787175
2025-06-25T20:34:08.981Z,1750883648.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039103
2025-06-25T20:34:09.233Z,1750883649.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291215
2025-06-25T20:34:09.485Z,1750883649.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543178
2025-06-25T20:34:09.737Z,1750883649.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795046
2025-06-25T20:34:09.989Z,1750883649.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047099
2025-06-25T20:34:10.242Z,1750883650.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300093
2025-06-25T20:34:10.495Z,1750883650.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553145
2025-06-25T20:34:10.745Z,1750883650.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803394
2025-06-25T20:34:10.997Z,1750883650.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055179
2025-06-25T20:34:11.249Z,1750883651.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307717
2025-06-25T20:34:11.501Z,1750883651.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559128
2025-06-25T20:34:11.753Z,1750883651.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811163
2025-06-25T20:34:12.005Z,1750883652.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063185
2025-06-25T20:34:12.257Z,1750883652.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315451
2025-06-25T20:34:12.511Z,1750883652.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569248
2025-06-25T20:34:12.761Z,1750883652.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819073
2025-06-25T20:34:13.013Z,1750883653.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071380
2025-06-25T20:34:13.265Z,1750883653.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323245
2025-06-25T20:34:13.520Z,1750883653.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577465
2025-06-25T20:34:13.769Z,1750883653.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827160
2025-06-25T20:34:14.020Z,1750883654.020 [DAT](INFO): Reached modem response timeout
2025-06-25T20:34:14.777Z,1750883654.777 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:34:14.777Z,1750883654.777 [DAT](INFO): response not received
2025-06-25T20:34:14.777Z,1750883654.777 [DAT](ERROR): No response from remote modem.
2025-06-25T20:34:31.774Z,1750883671.774 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:34:32.778Z,1750883672.778 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:35:02.900Z,1750883702.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:35:03.734Z,1750883703.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:35:03.905Z,1750883703.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:35:03.969Z,1750883703.969 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:35:03.969Z,1750883703.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:35:04.222Z,1750883704.222 [DAT](INFO): DAT read: 

2025-06-25T20:35:04.225Z,1750883704.225 [DAT](INFO): DAT read: Tx time:20:35:05.3834

2025-06-25T20:35:04.226Z,1750883704.226 [DAT](INFO): Ping request sent.
2025-06-25T20:35:04.227Z,1750883704.227 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:35:04.229Z,1750883704.229 [DAT](INFO): DAT read: TxSync time:20:35:05.3827

2025-06-25T20:35:04.230Z,1750883704.230 [DAT](INFO): publishing transmit ping time
2025-06-25T20:35:04.233Z,1750883704.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006032
2025-06-25T20:35:04.473Z,1750883704.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246564
2025-06-25T20:35:04.725Z,1750883704.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498576
2025-06-25T20:35:04.977Z,1750883704.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750642
2025-06-25T20:35:05.229Z,1750883705.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002569
2025-06-25T20:35:05.481Z,1750883705.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254572
2025-06-25T20:35:05.733Z,1750883705.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506631
2025-06-25T20:35:05.985Z,1750883705.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758597
2025-06-25T20:35:06.241Z,1750883706.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014353
2025-06-25T20:35:06.489Z,1750883706.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262649
2025-06-25T20:35:06.741Z,1750883706.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514561
2025-06-25T20:35:06.993Z,1750883706.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766713
2025-06-25T20:35:07.245Z,1750883707.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018631
2025-06-25T20:35:07.497Z,1750883707.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270501
2025-06-25T20:35:07.749Z,1750883707.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523321
2025-06-25T20:35:08.001Z,1750883708.001 [DAT](INFO): DAT read: Rx Time:20:35:08.7024

2025-06-25T20:35:08.001Z,1750883708.001 [DAT](INFO): Rx dataTimestamp_ set to:1750883708.001067
2025-06-25T20:35:08.002Z,1750883708.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775716
2025-06-25T20:35:08.253Z,1750883708.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027155
2025-06-25T20:35:08.505Z,1750883708.505 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:35:08.505Z,1750883708.505 [DAT](INFO): Received a bad header
2025-06-25T20:35:08.516Z,1750883708.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289922
2025-06-25T20:35:08.757Z,1750883708.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530623
2025-06-25T20:35:09.009Z,1750883709.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782644
2025-06-25T20:35:09.261Z,1750883709.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034578
2025-06-25T20:35:09.513Z,1750883709.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286660
2025-06-25T20:35:09.767Z,1750883709.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540771
2025-06-25T20:35:10.021Z,1750883710.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795323
2025-06-25T20:35:10.280Z,1750883710.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053147
2025-06-25T20:35:10.525Z,1750883710.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298552
2025-06-25T20:35:10.777Z,1750883710.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550573
2025-06-25T20:35:11.029Z,1750883711.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802765
2025-06-25T20:35:11.281Z,1750883711.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054780
2025-06-25T20:35:11.533Z,1750883711.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306895
2025-06-25T20:35:11.789Z,1750883711.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562505
2025-06-25T20:35:12.041Z,1750883712.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814675
2025-06-25T20:35:12.293Z,1750883712.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066601
2025-06-25T20:35:12.545Z,1750883712.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318851
2025-06-25T20:35:12.797Z,1750883712.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570664
2025-06-25T20:35:13.049Z,1750883713.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822685
2025-06-25T20:35:13.301Z,1750883713.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074593
2025-06-25T20:35:13.553Z,1750883713.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326680
2025-06-25T20:35:13.809Z,1750883713.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582458
2025-06-25T20:35:14.061Z,1750883714.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834616
2025-06-25T20:35:14.313Z,1750883714.313 [DAT](INFO): Reached modem response timeout
2025-06-25T20:35:15.069Z,1750883715.069 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:35:15.069Z,1750883715.069 [DAT](INFO): response not received
2025-06-25T20:35:15.069Z,1750883715.069 [DAT](ERROR): No response from remote modem.
2025-06-25T20:35:16.718Z,1750883716.718 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-25T20:35:34.028Z,1750883734.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:35:35.034Z,1750883735.034 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:35:42.200Z,1750883742.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS81, 157.38
2025-06-25T20:36:03.937Z,1750883763.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:36:04.021Z,1750883764.021 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:36:04.021Z,1750883764.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:36:04.273Z,1750883764.273 [DAT](INFO): DAT read: 

2025-06-25T20:36:04.273Z,1750883764.273 [DAT](INFO): DAT read: Tx time:20:36:05.4338

2025-06-25T20:36:04.274Z,1750883764.274 [DAT](INFO): Ping request sent.
2025-06-25T20:36:04.274Z,1750883764.274 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:36:04.274Z,1750883764.274 [DAT](INFO): DAT read: TxSync time:20:36:05.4331

2025-06-25T20:36:04.275Z,1750883764.275 [DAT](INFO): publishing transmit ping time
2025-06-25T20:36:04.275Z,1750883764.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001600
2025-06-25T20:36:04.525Z,1750883764.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250939
2025-06-25T20:36:04.777Z,1750883764.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503075
2025-06-25T20:36:05.029Z,1750883765.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755002
2025-06-25T20:36:05.162Z,1750883765.162 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:36:05.281Z,1750883765.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007229
2025-06-25T20:36:05.535Z,1750883765.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261608
2025-06-25T20:36:05.785Z,1750883765.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511032
2025-06-25T20:36:06.037Z,1750883766.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762982
2025-06-25T20:36:06.165Z,1750883766.165 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:36:06.289Z,1750883766.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014985
2025-06-25T20:36:06.542Z,1750883766.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268342
2025-06-25T20:36:06.793Z,1750883766.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519493
2025-06-25T20:36:07.045Z,1750883767.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984
2025-06-25T20:36:07.297Z,1750883767.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023599
2025-06-25T20:36:07.550Z,1750883767.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275813
2025-06-25T20:36:07.801Z,1750883767.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527041
2025-06-25T20:36:08.053Z,1750883768.053 [DAT](INFO): DAT read: Rx Time:20:36:08.6978

2025-06-25T20:36:08.053Z,1750883768.053 [DAT](INFO): Rx dataTimestamp_ set to:1750883768.053199
2025-06-25T20:36:08.054Z,1750883768.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780234
2025-06-25T20:36:08.305Z,1750883768.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030966
2025-06-25T20:36:08.568Z,1750883768.568 [DAT](INFO): DAT read: 20:36:08.6978 LVL= 32752, 32753, 32658, 32755, AGC= 82, IDX= 401,-0.29, 2.174, 0.577, 1.718, 1.604, PHS= 0.657,-0.981, 0.110, RAW= 130.9,   3.0, CAL= 137.0,  -4.4, ROT=  13.0,   4.4

2025-06-25T20:36:08.569Z,1750883768.569 [DAT](INFO): got valid direction response:
 20:36:08.6978 LVL= 32752, 32753, 32658, 32755, AGC= 82, IDX= 401,-0.29, 2.174, 0.577, 1.718, 1.604, PHS= 0.657,-0.981, 0.110, RAW= 130.9,   3.0, CAL= 137.0,  -4.4, ROT=  13.0,   4.4

2025-06-25T20:36:08.570Z,1750883768.570 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:36:08.570Z,1750883768.570 [DAT](INFO): Received a bad header
2025-06-25T20:36:08.584Z,1750883768.584 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:36:08.585Z,1750883768.585 [DAT](INFO): direction in FSK: [0.971498,0.224288,-0.076719]
2025-06-25T20:36:14.361Z,1750883774.361 [DAT](INFO): Reached modem response timeout
2025-06-25T20:36:15.117Z,1750883775.117 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:36:15.117Z,1750883775.117 [DAT](INFO): response not received
2025-06-25T20:36:15.117Z,1750883775.117 [DAT](ERROR): No response from remote modem.
2025-06-25T20:36:36.285Z,1750883796.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:36:37.288Z,1750883797.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:37:04.158Z,1750883824.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:37:04.285Z,1750883824.285 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:37:04.285Z,1750883824.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:37:04.541Z,1750883824.541 [DAT](INFO): DAT read: 

2025-06-25T20:37:04.541Z,1750883824.541 [DAT](INFO): DAT read: Tx time:20:37:05.7342

2025-06-25T20:37:04.542Z,1750883824.542 [DAT](INFO): Ping request sent.
2025-06-25T20:37:04.542Z,1750883824.542 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:37:04.542Z,1750883824.542 [DAT](INFO): publishing transmit ping time
2025-06-25T20:37:04.542Z,1750883824.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-06-25T20:37:04.793Z,1750883824.793 [DAT](INFO): DAT read: TxSync time:20:37:05.7334

2025-06-25T20:37:04.794Z,1750883824.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251988
2025-06-25T20:37:05.048Z,1750883825.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505593
2025-06-25T20:37:05.297Z,1750883825.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755262
2025-06-25T20:37:05.549Z,1750883825.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007061
2025-06-25T20:37:05.801Z,1750883825.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258900
2025-06-25T20:37:06.056Z,1750883826.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514151
2025-06-25T20:37:06.305Z,1750883826.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763057
2025-06-25T20:37:06.557Z,1750883826.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015104
2025-06-25T20:37:06.809Z,1750883826.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267302
2025-06-25T20:37:07.064Z,1750883827.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521776
2025-06-25T20:37:07.313Z,1750883827.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771549
2025-06-25T20:37:07.408Z,1750883827.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:37:07.565Z,1750883827.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023265
2025-06-25T20:37:07.818Z,1750883827.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276219
2025-06-25T20:37:08.071Z,1750883828.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529033
2025-06-25T20:37:08.321Z,1750883828.321 [DAT](INFO): DAT read: Rx Time:20:37:08.9433

2025-06-25T20:37:08.321Z,1750883828.321 [DAT](INFO): Rx dataTimestamp_ set to:1750883828.321047
2025-06-25T20:37:08.322Z,1750883828.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780129
2025-06-25T20:37:08.412Z,1750883828.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:37:08.573Z,1750883828.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031180
2025-06-25T20:37:08.831Z,1750883828.831 [DAT](INFO): DAT read: 20:37:08.9434 LVL= 29488, 32753, 25266, 32755, AGC= 84, IDX= 414, 0.39, 0.585,-0.939, 0.388, 0.002, PHS= 0.672,-0.893, 0.383, RAW= 140.0,  -2.3, CAL= 145.0, -11.5, ROT=   5.0,  11.5

2025-06-25T20:37:08.832Z,1750883828.832 [DAT](INFO): got valid direction response:
 20:37:08.9434 LVL= 29488, 32753, 25266, 32755, AGC= 84, IDX= 414, 0.39, 0.585,-0.939, 0.388, 0.002, PHS= 0.672,-0.893, 0.383, RAW= 140.0,  -2.3, CAL= 145.0, -11.5, ROT=   5.0,  11.5

2025-06-25T20:37:08.833Z,1750883828.833 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:37:08.833Z,1750883828.833 [DAT](INFO): Received a bad header
2025-06-25T20:37:08.844Z,1750883828.844 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:37:08.845Z,1750883828.845 [DAT](INFO): direction in FSK: [0.976196,0.085406,-0.199368]
2025-06-25T20:37:14.621Z,1750883834.621 [DAT](INFO): Reached modem response timeout
2025-06-25T20:37:15.377Z,1750883835.377 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:37:15.377Z,1750883835.377 [DAT](INFO): response not received
2025-06-25T20:37:15.377Z,1750883835.377 [DAT](ERROR): No response from remote modem.
2025-06-25T20:37:38.534Z,1750883858.534 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:37:39.539Z,1750883859.539 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:38:04.355Z,1750883884.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:04.545Z,1750883884.545 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:04.545Z,1750883884.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:04.801Z,1750883884.801 [DAT](INFO): DAT read: 

2025-06-25T20:38:04.802Z,1750883884.802 [DAT](INFO): DAT read: Tx time:20:38:05.9847

2025-06-25T20:38:04.802Z,1750883884.802 [DAT](INFO): Ping request sent.
2025-06-25T20:38:04.802Z,1750883884.802 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:04.802Z,1750883884.802 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:04.803Z,1750883884.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-25T20:38:05.053Z,1750883885.053 [DAT](INFO): DAT read: TxSync time:20:38:05.9839

2025-06-25T20:38:05.054Z,1750883885.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251625
2025-06-25T20:38:05.305Z,1750883885.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502760
2025-06-25T20:38:05.557Z,1750883885.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754780
2025-06-25T20:38:05.809Z,1750883885.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006690
2025-06-25T20:38:06.061Z,1750883886.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258754
2025-06-25T20:38:06.314Z,1750883886.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512147
2025-06-25T20:38:06.565Z,1750883886.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763014
2025-06-25T20:38:06.817Z,1750883886.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014816
2025-06-25T20:38:07.069Z,1750883887.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266669
2025-06-25T20:38:07.321Z,1750883887.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518701
2025-06-25T20:38:07.573Z,1750883887.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770813
2025-06-25T20:38:07.826Z,1750883887.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023580
2025-06-25T20:38:08.077Z,1750883888.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275107
2025-06-25T20:38:08.329Z,1750883888.329 [DAT](INFO): DAT read: Rx Time:20:38:09.1385

2025-06-25T20:38:08.329Z,1750883888.329 [DAT](INFO): Rx dataTimestamp_ set to:1750883888.329109
2025-06-25T20:38:08.330Z,1750883888.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527879
2025-06-25T20:38:08.581Z,1750883888.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778644
2025-06-25T20:38:08.834Z,1750883888.834 [DAT](INFO): DAT read: Range 10 to 50 : 562.2 m  (Round-trip  749.7 ms) speed  0.7 m/s

2025-06-25T20:38:08.834Z,1750883888.834 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:38:09.574Z,1750883889.574 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-25T20:38:09.574Z,1750883889.574 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-25T20:38:09.575Z,1750883889.575 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-25T20:38:09.576Z,1750883889.576 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 562.200012 m (mode  0.000000 count ).
2025-06-25T20:38:09.576Z,1750883889.576 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-25T20:38:09.576Z,1750883889.576 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-25T20:38:09.579Z,1750883889.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-25T20:38:09.579Z,1750883889.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-25T20:38:09.579Z,1750883889.579 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-25T20:38:09.581Z,1750883889.581 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 562.200012 m 
2025-06-25T20:38:09.581Z,1750883889.581 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-25T20:38:09.581Z,1750883889.581 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-25T20:38:09.665Z,1750883889.665 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:38:10.042Z,1750883890.042 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-25T20:38:10.042Z,1750883890.042 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-25T20:38:10.043Z,1750883890.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:10.049Z,1750883890.049 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-25T20:38:10.050Z,1750883890.050 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-25T20:38:10.050Z,1750883890.050 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-25T20:38:10.050Z,1750883890.050 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-25T20:38:10.093Z,1750883890.093 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:10.093Z,1750883890.093 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:10.094Z,1750883890.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:10.345Z,1750883890.345 [DAT](INFO): DAT read: user:548>

2025-06-25T20:38:10.346Z,1750883890.346 [DAT](INFO): DAT read: Tx time:20:38:11.5347

2025-06-25T20:38:10.346Z,1750883890.346 [DAT](INFO): Ping request sent.
2025-06-25T20:38:10.346Z,1750883890.346 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:10.346Z,1750883890.346 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:10.347Z,1750883890.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-06-25T20:38:10.447Z,1750883890.447 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-25T20:38:10.447Z,1750883890.447 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-25T20:38:10.447Z,1750883890.447 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-25T20:38:10.447Z,1750883890.447 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-25T20:38:10.447Z,1750883890.447 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-25T20:38:10.449Z,1750883890.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-25T20:38:10.449Z,1750883890.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-25T20:38:10.449Z,1750883890.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-25T20:38:10.449Z,1750883890.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-25T20:38:10.449Z,1750883890.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-25T20:38:10.449Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-25T20:38:10.450Z,1750883890.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-25T20:38:10.451Z,1750883890.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-25T20:38:10.451Z,1750883890.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-25T20:38:10.451Z,1750883890.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-25T20:38:10.452Z,1750883890.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-25T20:38:10.452Z,1750883890.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-25T20:38:10.452Z,1750883890.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-25T20:38:10.452Z,1750883890.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-25T20:38:10.453Z,1750883890.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-25T20:38:10.453Z,1750883890.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-25T20:38:10.453Z,1750883890.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-25T20:38:10.453Z,1750883890.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-25T20:38:10.453Z,1750883890.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-25T20:38:10.453Z,1750883890.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-25T20:38:10.454Z,1750883890.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-25T20:38:10.454Z,1750883890.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-25T20:38:10.455Z,1750883890.455 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-25T20:38:10.456Z,1750883890.456 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-25T20:38:10.597Z,1750883890.597 [DAT](INFO): DAT read: TxSync time:20:38:11.5339

2025-06-25T20:38:10.598Z,1750883890.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251527
2025-06-25T20:38:10.668Z,1750883890.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:38:10.811Z,1750883890.811 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-25T20:38:10.811Z,1750883890.811 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-25T20:38:10.811Z,1750883890.811 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-25T20:38:10.811Z,1750883890.811 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-25T20:38:10.819Z,1750883890.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 562.200012 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-25T20:38:10.825Z,1750883890.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1002.611389 m,
      bearing: 232.936838 deg,
      lat: 36.907075 deg,
      lon: -122.116064 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-25T20:38:10.826Z,1750883890.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:10.833Z,1750883890.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 486.300140 m,
      bearing: 245.000813 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 233.869256 deg,
      new cmd heading: 245.000813 deg.

2025-06-25T20:38:10.834Z,1750883890.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276071 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:10.849Z,1750883890.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502505
2025-06-25T20:38:10.865Z,1750883890.865 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-25T20:38:10.866Z,1750883890.866 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-25T20:38:10.872Z,1750883890.872 [DockingStepper](INFO): Resume
2025-06-25T20:38:11.101Z,1750883891.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672
2025-06-25T20:38:11.225Z,1750883891.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:11.228Z,1750883891.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 486.012482 m,
      bearing: 245.007305 deg,
      approach rate: -0.706355 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.000825 deg,
      new cmd heading: 245.007305 deg.

2025-06-25T20:38:11.229Z,1750883891.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276184 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:11.271Z,1750883891.271 [DockingStepper](INFO): Resuming
2025-06-25T20:38:11.353Z,1750883891.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006427
2025-06-25T20:38:11.606Z,1750883891.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259544
2025-06-25T20:38:11.639Z,1750883891.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:11.647Z,1750883891.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 485.752838 m,
      bearing: 245.013258 deg,
      approach rate: -0.628506 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.007300 deg,
      new cmd heading: 245.013258 deg.

2025-06-25T20:38:11.657Z,1750883891.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276288 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:11.832Z,1750883891.832 [DockingStepper](INFO): Start
2025-06-25T20:38:11.833Z,1750883891.833 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-25T20:38:11.857Z,1750883891.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510683
2025-06-25T20:38:11.953Z,1750883891.953 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-25T20:38:12.113Z,1750883892.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766179
2025-06-25T20:38:12.185Z,1750883892.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:12.187Z,1750883892.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:12.190Z,1750883892.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 485.371216 m,
      bearing: 245.021721 deg,
      approach rate: -0.695651 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.013256 deg,
      new cmd heading: 245.021721 deg.

2025-06-25T20:38:12.190Z,1750883892.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276436 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:12.361Z,1750883892.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014359
2025-06-25T20:38:12.389Z,1750883892.389 [DockingStepper](INFO): Starting
2025-06-25T20:38:12.574Z,1750883892.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:12.576Z,1750883892.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 485.113861 m,
      bearing: 245.027436 deg,
      approach rate: -0.665448 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.021726 deg,
      new cmd heading: 245.027436 deg.

2025-06-25T20:38:12.577Z,1750883892.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276536 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:12.613Z,1750883892.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266298
2025-06-25T20:38:12.708Z,1750883892.708 [DockingStepper](INFO): Starting
2025-06-25T20:38:12.865Z,1750883892.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518465
2025-06-25T20:38:13.108Z,1750883893.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:13.110Z,1750883893.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 484.771484 m,
      bearing: 245.035039 deg,
      approach rate: -0.641270 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.027436 deg,
      new cmd heading: 245.035039 deg.

2025-06-25T20:38:13.111Z,1750883893.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276668 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:13.117Z,1750883893.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770490
2025-06-25T20:38:13.126Z,1750883893.126 [DockingStepper](INFO): Starting
2025-06-25T20:38:13.176Z,1750883893.176 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-25T20:38:13.369Z,1750883893.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022519
2025-06-25T20:38:13.373Z,1750883893.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:13.392Z,1750883893.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 484.602081 m,
      bearing: 245.038765 deg,
      approach rate: -0.637446 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.035031 deg,
      new cmd heading: 245.038765 deg.

2025-06-25T20:38:13.393Z,1750883893.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276733 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:13.421Z,1750883893.421 [DockingStepper](INFO): Starting
2025-06-25T20:38:13.621Z,1750883893.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274428
2025-06-25T20:38:13.783Z,1750883893.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:13.786Z,1750883893.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 484.337921 m,
      bearing: 245.044467 deg,
      approach rate: -0.644200 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.038774 deg,
      new cmd heading: 245.044467 deg.

2025-06-25T20:38:13.787Z,1750883893.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276833 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:13.800Z,1750883893.800 [DockingStepper](INFO): Starting
2025-06-25T20:38:13.874Z,1750883893.874 [DAT](INFO): DAT read: Rx Time:20:38:14.6911

2025-06-25T20:38:13.875Z,1750883893.875 [DAT](INFO): Rx dataTimestamp_ set to:1750883893.874400
2025-06-25T20:38:13.876Z,1750883893.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529171
2025-06-25T20:38:14.125Z,1750883894.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778275
2025-06-25T20:38:14.270Z,1750883894.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:14.272Z,1750883894.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:14.275Z,1750883894.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 484.040375 m,
      bearing: 245.050839 deg,
      approach rate: -0.608576 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.044457 deg,
      new cmd heading: 245.050839 deg.

2025-06-25T20:38:14.292Z,1750883894.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276944 target range: 1002.611389 and range: 562.20 m.
2025-06-25T20:38:14.313Z,1750883894.313 [DockingStepper](INFO): Starting
2025-06-25T20:38:14.380Z,1750883894.380 [DAT](INFO): DAT read: Range 10 to 50 : 564.1 m  (Round-trip  752.2 ms) speed  0.4 m/s

2025-06-25T20:38:14.381Z,1750883894.381 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:38:14.381Z,1750883894.381 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:14.381Z,1750883894.381 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:14.382Z,1750883894.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:14.582Z,1750883894.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 564.099976 m,
      deltaT: 5.545038 s,
      deltaX: 1.899963 m,
      approachRate: 0.342642 m/s,
      rangeRepo size: 2

2025-06-25T20:38:14.583Z,1750883894.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:14.586Z,1750883894.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 483.850830 m,
      bearing: 245.054722 deg,
      approach rate: -0.612361 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.050850 deg,
      new cmd heading: 245.054722 deg.

2025-06-25T20:38:14.587Z,1750883894.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277012 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:14.625Z,1750883894.625 [DockingStepper](INFO): Starting
2025-06-25T20:38:14.632Z,1750883894.632 [DAT](INFO): DAT read: user:549>

2025-06-25T20:38:14.635Z,1750883894.635 [DAT](INFO): DAT read: Tx time:20:38:15.8347

2025-06-25T20:38:14.635Z,1750883894.635 [DAT](INFO): Ping request sent.
2025-06-25T20:38:14.635Z,1750883894.635 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:14.635Z,1750883894.635 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:14.637Z,1750883894.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001571
2025-06-25T20:38:14.659Z,1750883894.659 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-25T20:38:14.881Z,1750883894.881 [DAT](INFO): DAT read: TxSync time:20:38:15.8339

2025-06-25T20:38:14.882Z,1750883894.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246980
2025-06-25T20:38:15.053Z,1750883895.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:15.070Z,1750883895.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 483.581299 m,
      bearing: 245.059941 deg,
      approach rate: -0.589298 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.054729 deg,
      new cmd heading: 245.059941 deg.

2025-06-25T20:38:15.094Z,1750883895.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277103 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:15.133Z,1750883895.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497911
2025-06-25T20:38:15.134Z,1750883895.134 [DockingStepper](INFO): Starting
2025-06-25T20:38:15.385Z,1750883895.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749612
2025-06-25T20:38:15.444Z,1750883895.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:15.446Z,1750883895.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 483.337585 m,
      bearing: 245.064775 deg,
      approach rate: -0.602315 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.059947 deg,
      new cmd heading: 245.064775 deg.

2025-06-25T20:38:15.447Z,1750883895.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277187 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:15.462Z,1750883895.462 [DockingStepper](INFO): Changing to mode: 1
2025-06-25T20:38:15.462Z,1750883895.462 [DockingStepper](INFO): Standby mode.
2025-06-25T20:38:15.637Z,1750883895.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002347
2025-06-25T20:38:15.805Z,1750883895.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:15.807Z,1750883895.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 483.128937 m,
      bearing: 245.068611 deg,
      approach rate: -0.578476 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.064783 deg,
      new cmd heading: 245.068611 deg.

2025-06-25T20:38:15.809Z,1750883895.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277254 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:15.890Z,1750883895.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254771
2025-06-25T20:38:16.141Z,1750883896.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505733
2025-06-25T20:38:16.227Z,1750883896.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:16.230Z,1750883896.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 482.887177 m,
      bearing: 245.072839 deg,
      approach rate: -0.572567 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.068608 deg,
      new cmd heading: 245.072839 deg.

2025-06-25T20:38:16.230Z,1750883896.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277328 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:16.393Z,1750883896.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758071
2025-06-25T20:38:16.603Z,1750883896.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:16.606Z,1750883896.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:16.608Z,1750883896.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 482.669556 m,
      bearing: 245.075950 deg,
      approach rate: -0.574417 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.072843 deg,
      new cmd heading: 245.075950 deg.

2025-06-25T20:38:16.609Z,1750883896.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277382 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:16.645Z,1750883896.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010298
2025-06-25T20:38:16.897Z,1750883896.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261767
2025-06-25T20:38:17.003Z,1750883897.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:17.006Z,1750883897.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 482.440338 m,
      bearing: 245.078901 deg,
      approach rate: -0.576377 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.075957 deg,
      new cmd heading: 245.078901 deg.

2025-06-25T20:38:17.007Z,1750883897.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277434 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:17.150Z,1750883897.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514786
2025-06-25T20:38:17.401Z,1750883897.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765897
2025-06-25T20:38:17.426Z,1750883897.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:17.429Z,1750883897.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 482.197144 m,
      bearing: 245.081707 deg,
      approach rate: -0.575438 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.078908 deg,
      new cmd heading: 245.081707 deg.

2025-06-25T20:38:17.429Z,1750883897.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277483 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:17.653Z,1750883897.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018334
2025-06-25T20:38:17.817Z,1750883897.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:17.819Z,1750883897.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 481.971344 m,
      bearing: 245.084020 deg,
      approach rate: -0.577690 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.081695 deg,
      new cmd heading: 245.084020 deg.

2025-06-25T20:38:17.820Z,1750883897.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277523 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:17.905Z,1750883897.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270297
2025-06-25T20:38:18.160Z,1750883898.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524165
2025-06-25T20:38:18.262Z,1750883898.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:18.269Z,1750883898.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 481.712219 m,
      bearing: 245.087127 deg,
      approach rate: -0.581510 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.084017 deg,
      new cmd heading: 245.087127 deg.

2025-06-25T20:38:18.270Z,1750883898.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277577 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:18.409Z,1750883898.409 [DAT](INFO): DAT read: Rx Time:20:38:18.9804

2025-06-25T20:38:18.410Z,1750883898.410 [DAT](INFO): Rx dataTimestamp_ set to:1750883898.408999
2025-06-25T20:38:18.410Z,1750883898.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775223
2025-06-25T20:38:18.613Z,1750883898.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:18.615Z,1750883898.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:18.617Z,1750883898.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 481.498657 m,
      bearing: 245.089459 deg,
      approach rate: -0.606030 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.087132 deg,
      new cmd heading: 245.089459 deg.

2025-06-25T20:38:18.618Z,1750883898.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277618 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:18.665Z,1750883898.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029486
2025-06-25T20:38:18.919Z,1750883898.919 [DAT](INFO): DAT read: 20:38:18.9805 LVL= 15472, 12529, 13522, 17091, AGC= 70, IDX= 326, 0.18, 2.729, 1.463, 2.823, 2.361, PHS= 0.456,-0.852, 0.458, RAW= 150.1,  -1.0, CAL= 153.6,  -9.9, ROT= 356.4,   9.9

2025-06-25T20:38:18.920Z,1750883898.920 [DAT](INFO): got valid direction response:
 20:38:18.9805 LVL= 15472, 12529, 13522, 17091, AGC= 70, IDX= 326, 0.18, 2.729, 1.463, 2.823, 2.361, PHS= 0.456,-0.852, 0.458, RAW= 150.1,  -1.0, CAL= 153.6,  -9.9, ROT= 356.4,   9.9

2025-06-25T20:38:18.921Z,1750883898.921 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:38:18.921Z,1750883898.921 [DAT](INFO): Received a bad header
2025-06-25T20:38:18.932Z,1750883898.932 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:38:18.933Z,1750883898.933 [DAT](INFO): direction in FSK: [0.983165,-0.061856,-0.171929]
2025-06-25T20:38:18.936Z,1750883898.936 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:18.936Z,1750883898.936 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:18.936Z,1750883898.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:19.037Z,1750883899.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:19.044Z,1750883899.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 481.252594 m,
      bearing: 245.091921 deg,
      approach rate: -0.582493 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.089454 deg,
      new cmd heading: 245.091921 deg.

2025-06-25T20:38:19.045Z,1750883899.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277661 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:19.165Z,1750883899.165 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:19.165Z,1750883899.165 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:19.165Z,1750883899.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:19.417Z,1750883899.417 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:19.417Z,1750883899.417 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:19.417Z,1750883899.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:19.468Z,1750883899.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:19.471Z,1750883899.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 480.986206 m,
      bearing: 245.094987 deg,
      approach rate: -0.618372 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.091913 deg,
      new cmd heading: 245.094987 deg.

2025-06-25T20:38:19.471Z,1750883899.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277715 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:19.669Z,1750883899.669 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:19.669Z,1750883899.669 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:19.669Z,1750883899.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:19.824Z,1750883899.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:19.827Z,1750883899.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 480.770172 m,
      bearing: 245.097327 deg,
      approach rate: -0.607576 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.095000 deg,
      new cmd heading: 245.097327 deg.

2025-06-25T20:38:19.827Z,1750883899.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277755 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:19.921Z,1750883899.921 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:19.921Z,1750883899.921 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:19.921Z,1750883899.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:20.174Z,1750883900.174 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:20.175Z,1750883900.175 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:20.175Z,1750883900.175 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:20.282Z,1750883900.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:20.288Z,1750883900.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 480.489868 m,
      bearing: 245.100364 deg,
      approach rate: -0.611800 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.097322 deg,
      new cmd heading: 245.100364 deg.

2025-06-25T20:38:20.289Z,1750883900.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277808 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:20.425Z,1750883900.425 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:20.425Z,1750883900.425 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:20.425Z,1750883900.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:20.669Z,1750883900.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:20.677Z,1750883900.677 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:20.677Z,1750883900.677 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:20.677Z,1750883900.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:20.677Z,1750883900.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:20.684Z,1750883900.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 480.255768 m,
      bearing: 245.102621 deg,
      approach rate: -0.600621 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.100355 deg,
      new cmd heading: 245.102621 deg.

2025-06-25T20:38:20.685Z,1750883900.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277848 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:20.929Z,1750883900.929 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:20.929Z,1750883900.929 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:20.929Z,1750883900.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:21.045Z,1750883901.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:21.048Z,1750883901.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 480.002380 m,
      bearing: 245.104945 deg,
      approach rate: -0.677909 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.102622 deg,
      new cmd heading: 245.104945 deg.

2025-06-25T20:38:21.049Z,1750883901.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277888 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:21.183Z,1750883901.183 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:21.183Z,1750883901.183 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:21.183Z,1750883901.183 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:21.432Z,1750883901.432 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:21.432Z,1750883901.432 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:21.433Z,1750883901.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:21.491Z,1750883901.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:21.493Z,1750883901.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 479.714966 m,
      bearing: 245.107387 deg,
      approach rate: -0.645179 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.104945 deg,
      new cmd heading: 245.107387 deg.

2025-06-25T20:38:21.494Z,1750883901.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277931 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:21.686Z,1750883901.686 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:21.686Z,1750883901.686 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:21.686Z,1750883901.686 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:21.859Z,1750883901.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:21.862Z,1750883901.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 479.477264 m,
      bearing: 245.109409 deg,
      approach rate: -0.644652 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.107376 deg,
      new cmd heading: 245.109409 deg.

2025-06-25T20:38:21.863Z,1750883901.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277966 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:21.937Z,1750883901.937 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:21.937Z,1750883901.937 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:21.937Z,1750883901.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:22.191Z,1750883902.191 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:22.191Z,1750883902.191 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:22.191Z,1750883902.191 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:22.319Z,1750883902.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:22.326Z,1750883902.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 479.174652 m,
      bearing: 245.112078 deg,
      approach rate: -0.658397 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.109398 deg,
      new cmd heading: 245.112078 deg.

2025-06-25T20:38:22.327Z,1750883902.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278013 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:22.441Z,1750883902.441 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:22.441Z,1750883902.441 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:22.441Z,1750883902.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:22.682Z,1750883902.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:22.685Z,1750883902.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:22.687Z,1750883902.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 478.938019 m,
      bearing: 245.114114 deg,
      approach rate: -0.648575 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.112075 deg,
      new cmd heading: 245.114114 deg.

2025-06-25T20:38:22.688Z,1750883902.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278049 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:22.693Z,1750883902.693 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:22.693Z,1750883902.693 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:22.693Z,1750883902.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:22.945Z,1750883902.945 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:22.945Z,1750883902.945 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:22.945Z,1750883902.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:23.064Z,1750883903.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:23.066Z,1750883903.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 478.669861 m,
      bearing: 245.116389 deg,
      approach rate: -0.706352 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.114124 deg,
      new cmd heading: 245.116389 deg.

2025-06-25T20:38:23.067Z,1750883903.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278088 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:23.199Z,1750883903.199 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:23.200Z,1750883903.200 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:23.200Z,1750883903.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:23.449Z,1750883903.449 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:23.449Z,1750883903.449 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:23.449Z,1750883903.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:23.505Z,1750883903.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:23.507Z,1750883903.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 478.371277 m,
      bearing: 245.118035 deg,
      approach rate: -0.676403 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.116392 deg,
      new cmd heading: 245.118035 deg.

2025-06-25T20:38:23.509Z,1750883903.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278117 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:23.701Z,1750883903.701 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:23.701Z,1750883903.701 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:23.701Z,1750883903.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:23.871Z,1750883903.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:23.874Z,1750883903.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 478.123199 m,
      bearing: 245.119379 deg,
      approach rate: -0.677877 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.118031 deg,
      new cmd heading: 245.119379 deg.

2025-06-25T20:38:23.874Z,1750883903.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278140 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:23.953Z,1750883903.953 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:23.954Z,1750883903.954 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:23.954Z,1750883903.954 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:24.206Z,1750883904.206 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:24.206Z,1750883904.206 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:24.207Z,1750883904.207 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:24.322Z,1750883904.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:24.325Z,1750883904.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 477.814697 m,
      bearing: 245.120701 deg,
      approach rate: -0.684098 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.119370 deg,
      new cmd heading: 245.120701 deg.

2025-06-25T20:38:24.325Z,1750883904.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278163 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:24.457Z,1750883904.457 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:24.457Z,1750883904.457 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:24.457Z,1750883904.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:24.690Z,1750883904.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:24.692Z,1750883904.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:24.695Z,1750883904.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 477.561768 m,
      bearing: 245.121769 deg,
      approach rate: -0.683601 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.120709 deg,
      new cmd heading: 245.121769 deg.

2025-06-25T20:38:24.695Z,1750883904.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278182 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:24.709Z,1750883904.709 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:24.709Z,1750883904.709 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:24.709Z,1750883904.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:24.961Z,1750883904.961 [DAT](INFO): DAT read: 

2025-06-25T20:38:24.961Z,1750883904.961 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:24.961Z,1750883904.961 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:24.961Z,1750883904.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:25.210Z,1750883905.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:25.214Z,1750883905.214 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:25.215Z,1750883905.215 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:25.219Z,1750883905.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:25.239Z,1750883905.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 477.248688 m,
      bearing: 245.123078 deg,
      approach rate: -0.605615 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.121774 deg,
      new cmd heading: 245.123078 deg.

2025-06-25T20:38:25.248Z,1750883905.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278205 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:25.466Z,1750883905.466 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:38:25.466Z,1750883905.466 [DAT](INFO): response not received
2025-06-25T20:38:25.467Z,1750883905.467 [DAT](INFO): DAT read: user:551>

2025-06-25T20:38:25.468Z,1750883905.468 [DAT](INFO): DAT read: Tx time:20:38:26.7848

2025-06-25T20:38:25.468Z,1750883905.468 [DAT](INFO): Ping request sent.
2025-06-25T20:38:25.468Z,1750883905.468 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:25.469Z,1750883905.469 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:25.470Z,1750883905.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001075
2025-06-25T20:38:25.672Z,1750883905.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:25.674Z,1750883905.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 476.894073 m,
      bearing: 245.124308 deg,
      approach rate: -0.766815 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.123086 deg,
      new cmd heading: 245.124308 deg.

2025-06-25T20:38:25.675Z,1750883905.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278226 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:25.718Z,1750883905.718 [DAT](INFO): DAT read: TxSync time:20:38:26.7840

2025-06-25T20:38:25.719Z,1750883905.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250313
2025-06-25T20:38:25.969Z,1750883905.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500393
2025-06-25T20:38:25.998Z,1750883905.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:26.002Z,1750883906.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 476.682526 m,
      bearing: 245.125030 deg,
      approach rate: -0.646937 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.124315 deg,
      new cmd heading: 245.125030 deg.

2025-06-25T20:38:26.002Z,1750883906.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278239 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:26.225Z,1750883906.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755753
2025-06-25T20:38:26.466Z,1750883906.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:26.469Z,1750883906.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 476.358795 m,
      bearing: 245.125931 deg,
      approach rate: -0.692101 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.125025 deg,
      new cmd heading: 245.125931 deg.

2025-06-25T20:38:26.470Z,1750883906.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278255 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:26.473Z,1750883906.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004847
2025-06-25T20:38:26.725Z,1750883906.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256310
2025-06-25T20:38:26.796Z,1750883906.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:26.798Z,1750883906.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:26.805Z,1750883906.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 476.146698 m,
      bearing: 245.126527 deg,
      approach rate: -0.638241 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.125927 deg,
      new cmd heading: 245.126527 deg.

2025-06-25T20:38:26.806Z,1750883906.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278265 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:26.977Z,1750883906.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508260
2025-06-25T20:38:27.225Z,1750883907.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:27.233Z,1750883907.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764394
2025-06-25T20:38:27.254Z,1750883907.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 475.867157 m,
      bearing: 245.127304 deg,
      approach rate: -0.658452 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.126528 deg,
      new cmd heading: 245.127304 deg.

2025-06-25T20:38:27.261Z,1750883907.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278278 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:27.481Z,1750883907.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012724
2025-06-25T20:38:27.628Z,1750883907.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:27.634Z,1750883907.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 475.608307 m,
      bearing: 245.128116 deg,
      approach rate: -0.673067 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.127293 deg,
      new cmd heading: 245.128116 deg.

2025-06-25T20:38:27.634Z,1750883907.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278293 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:27.733Z,1750883907.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264363
2025-06-25T20:38:27.965Z,1750883907.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:27.967Z,1750883907.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 475.376678 m,
      bearing: 245.128738 deg,
      approach rate: -0.648852 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.128113 deg,
      new cmd heading: 245.128738 deg.

2025-06-25T20:38:27.968Z,1750883907.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278304 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:27.985Z,1750883907.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516327
2025-06-25T20:38:28.240Z,1750883908.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770884
2025-06-25T20:38:28.405Z,1750883908.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:28.407Z,1750883908.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 475.097717 m,
      bearing: 245.129385 deg,
      approach rate: -0.633663 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.128741 deg,
      new cmd heading: 245.129385 deg.

2025-06-25T20:38:28.408Z,1750883908.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278315 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:28.489Z,1750883908.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020504
2025-06-25T20:38:28.741Z,1750883908.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272271
2025-06-25T20:38:28.794Z,1750883908.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:28.797Z,1750883908.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 474.855042 m,
      bearing: 245.129897 deg,
      approach rate: -0.623606 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.129397 deg,
      new cmd heading: 245.129897 deg.

2025-06-25T20:38:28.797Z,1750883908.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278324 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:28.993Z,1750883908.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524381
2025-06-25T20:38:29.177Z,1750883909.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:29.179Z,1750883909.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:29.182Z,1750883909.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 474.607483 m,
      bearing: 245.130361 deg,
      approach rate: -0.642579 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.129889 deg,
      new cmd heading: 245.130361 deg.

2025-06-25T20:38:29.183Z,1750883909.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278332 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:29.249Z,1750883909.249 [DAT](INFO): DAT read: Rx Time:20:38:29.9283

2025-06-25T20:38:29.251Z,1750883909.251 [DAT](INFO): Rx dataTimestamp_ set to:1750883909.249883
2025-06-25T20:38:29.256Z,1750883909.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786898
2025-06-25T20:38:29.497Z,1750883909.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028278
2025-06-25T20:38:29.708Z,1750883909.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:29.710Z,1750883909.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 474.294098 m,
      bearing: 245.130252 deg,
      approach rate: -0.601943 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130353 deg,
      new cmd heading: 245.130252 deg.

2025-06-25T20:38:29.711Z,1750883909.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278330 target range: 1002.611389 and range: 564.10 m.
2025-06-25T20:38:29.755Z,1750883909.755 [DAT](INFO): DAT read: 20:38:29.9283 LVL= 15392, 14433, 13474, 19763, AGC= 72, IDX= 431, 0.17,-0.291,-1.411, 0.132,-0.397, PHS= 0.194,-0.967, 0.526, RAW= 162.3,   3.7, CAL= 163.0,  -5.4, ROT= 347.0,   5.4

2025-06-25T20:38:29.757Z,1750883909.757 [DAT](INFO): got valid direction response:
 20:38:29.9283 LVL= 15392, 14433, 13474, 19763, AGC= 72, IDX= 431, 0.17,-0.291,-1.411, 0.132,-0.397, PHS= 0.194,-0.967, 0.526, RAW= 162.3,   3.7, CAL= 163.0,  -5.4, ROT= 347.0,   5.4

2025-06-25T20:38:29.758Z,1750883909.758 [DAT](INFO): DAT read: Bearing 347.0,   5.4 (Local)

2025-06-25T20:38:29.758Z,1750883909.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,   5.4 (Local)

2025-06-25T20:38:29.760Z,1750883909.760 [DAT](INFO): DAT read: Range 10 to 50 : 554.4 m  (Round-trip  739.3 ms) speed  0.7 m/s

2025-06-25T20:38:29.761Z,1750883909.761 [DAT](INFO): DAT read: user:552>

2025-06-25T20:38:29.761Z,1750883909.761 [DAT](INFO): DAT read: Tx time:20:38:31.0348

2025-06-25T20:38:29.762Z,1750883909.762 [DAT](INFO): Ping request sent.
2025-06-25T20:38:29.762Z,1750883909.762 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:29.762Z,1750883909.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:38:29.763Z,1750883909.763 [DAT](INFO): direction in FSK: [0.970046,-0.223953,-0.094108]
2025-06-25T20:38:29.763Z,1750883909.763 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:29.764Z,1750883909.764 [DAT](INFO): publishing direction and range info
2025-06-25T20:38:29.767Z,1750883909.767 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:29.767Z,1750883909.767 [DAT](INFO): publishing direction and range info
2025-06-25T20:38:30.001Z,1750883910.001 [DAT](INFO): DAT read: TxSync time:20:38:31.0340

2025-06-25T20:38:30.075Z,1750883910.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 554.400024 m,
      deltaT: 15.370975 s,
      deltaX: -9.699951 m,
      approachRate: -0.631056 m/s,
      rangeRepo size: 3

2025-06-25T20:38:30.080Z,1750883910.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:30.082Z,1750883910.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 474.063812 m,
      bearing: 245.130096 deg,
      approach rate: -0.614997 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130244 deg,
      new cmd heading: 245.130096 deg.

2025-06-25T20:38:30.083Z,1750883910.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278327 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:30.460Z,1750883910.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:30.463Z,1750883910.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 473.807526 m,
      bearing: 245.130227 deg,
      approach rate: -0.664344 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130107 deg,
      new cmd heading: 245.130227 deg.

2025-06-25T20:38:30.463Z,1750883910.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278329 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:30.845Z,1750883910.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:30.847Z,1750883910.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 473.563782 m,
      bearing: 245.130305 deg,
      approach rate: -0.633242 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130216 deg,
      new cmd heading: 245.130305 deg.

2025-06-25T20:38:30.849Z,1750883910.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278331 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:31.259Z,1750883911.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:31.261Z,1750883911.261 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:31.261Z,1750883911.261 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:31.261Z,1750883911.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:31.266Z,1750883911.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:31.278Z,1750883911.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 473.301208 m,
      bearing: 245.130363 deg,
      approach rate: -0.625414 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130298 deg,
      new cmd heading: 245.130363 deg.

2025-06-25T20:38:31.281Z,1750883911.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278332 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:31.513Z,1750883911.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751305
2025-06-25T20:38:31.685Z,1750883911.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:31.708Z,1750883911.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 473.027771 m,
      bearing: 245.129974 deg,
      approach rate: -0.650583 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130353 deg,
      new cmd heading: 245.129974 deg.

2025-06-25T20:38:31.709Z,1750883911.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278325 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:31.766Z,1750883911.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004027
2025-06-25T20:38:32.017Z,1750883912.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254985
2025-06-25T20:38:32.058Z,1750883912.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:32.061Z,1750883912.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 472.787933 m,
      bearing: 245.129621 deg,
      approach rate: -0.643302 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.129971 deg,
      new cmd heading: 245.129621 deg.

2025-06-25T20:38:32.062Z,1750883912.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278319 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:32.269Z,1750883912.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507703
2025-06-25T20:38:32.486Z,1750883912.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:32.488Z,1750883912.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 472.508606 m,
      bearing: 245.129936 deg,
      approach rate: -0.652974 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.129615 deg,
      new cmd heading: 245.129936 deg.

2025-06-25T20:38:32.489Z,1750883912.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278325 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:32.521Z,1750883912.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759460
2025-06-25T20:38:32.773Z,1750883912.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011050
2025-06-25T20:38:32.869Z,1750883912.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:32.871Z,1750883912.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 472.258820 m,
      bearing: 245.130239 deg,
      approach rate: -0.653361 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.129943 deg,
      new cmd heading: 245.130239 deg.

2025-06-25T20:38:32.872Z,1750883912.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278330 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:33.026Z,1750883913.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264181
2025-06-25T20:38:33.261Z,1750883913.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:33.263Z,1750883913.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:33.279Z,1750883913.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517344
2025-06-25T20:38:33.283Z,1750883913.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 472.001373 m,
      bearing: 245.130559 deg,
      approach rate: -0.651266 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130244 deg,
      new cmd heading: 245.130559 deg.

2025-06-25T20:38:33.288Z,1750883913.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278336 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:33.529Z,1750883913.529 [DAT](INFO): DAT read: Rx Time:20:38:34.1674

2025-06-25T20:38:33.529Z,1750883913.529 [DAT](INFO): Rx dataTimestamp_ set to:1750883913.529041
2025-06-25T20:38:33.530Z,1750883913.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768175
2025-06-25T20:38:33.704Z,1750883913.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:33.706Z,1750883913.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 471.704590 m,
      bearing: 245.130476 deg,
      approach rate: -0.673673 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130572 deg,
      new cmd heading: 245.130476 deg.

2025-06-25T20:38:33.707Z,1750883913.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278334 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:33.781Z,1750883913.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019507
2025-06-25T20:38:34.045Z,1750883914.045 [DAT](INFO): DAT read: 20:38:34.1674 LVL= 29328, 32753, 19618, 32755, AGC= 74, IDX= 335, 0.13, 1.352, 0.244, 1.676, 1.231, PHS= 0.209,-0.940, 0.443, RAW= 159.1,   4.5, CAL= 159.9,  -4.6, ROT= 350.1,   4.6

2025-06-25T20:38:34.046Z,1750883914.046 [DAT](INFO): got valid direction response:
 20:38:34.1674 LVL= 29328, 32753, 19618, 32755, AGC= 74, IDX= 335, 0.13, 1.352, 0.244, 1.676, 1.231, PHS= 0.209,-0.940, 0.443, RAW= 159.1,   4.5, CAL= 159.9,  -4.6, ROT= 350.1,   4.6

2025-06-25T20:38:34.046Z,1750883914.046 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:38:34.047Z,1750883914.047 [DAT](INFO): Received a bad header
2025-06-25T20:38:34.060Z,1750883914.060 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:38:34.061Z,1750883914.061 [DAT](INFO): direction in FSK: [0.981936,-0.171375,-0.080199]
2025-06-25T20:38:34.064Z,1750883914.064 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:34.064Z,1750883914.064 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:34.064Z,1750883914.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:34.171Z,1750883914.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:34.179Z,1750883914.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 471.405060 m,
      bearing: 245.130393 deg,
      approach rate: -0.641890 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130462 deg,
      new cmd heading: 245.130393 deg.

2025-06-25T20:38:34.182Z,1750883914.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278332 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:34.285Z,1750883914.285 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:34.285Z,1750883914.285 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:34.285Z,1750883914.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:34.502Z,1750883914.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:34.505Z,1750883914.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 471.162689 m,
      bearing: 245.130579 deg,
      approach rate: -0.730527 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130380 deg,
      new cmd heading: 245.130579 deg.

2025-06-25T20:38:34.506Z,1750883914.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278336 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:34.537Z,1750883914.537 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:34.537Z,1750883914.537 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:34.537Z,1750883914.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:34.789Z,1750883914.789 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:34.789Z,1750883914.789 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:34.789Z,1750883914.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:34.884Z,1750883914.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:34.887Z,1750883914.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 470.900269 m,
      bearing: 245.130788 deg,
      approach rate: -0.686530 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130572 deg,
      new cmd heading: 245.130788 deg.

2025-06-25T20:38:34.888Z,1750883914.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278339 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:35.041Z,1750883915.041 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:35.041Z,1750883915.041 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:35.041Z,1750883915.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:35.293Z,1750883915.293 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:35.293Z,1750883915.293 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:35.293Z,1750883915.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:35.313Z,1750883915.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:35.315Z,1750883915.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:35.318Z,1750883915.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 470.611023 m,
      bearing: 245.131050 deg,
      approach rate: -0.671258 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.130790 deg,
      new cmd heading: 245.131050 deg.

2025-06-25T20:38:35.319Z,1750883915.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278344 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:35.545Z,1750883915.545 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:35.545Z,1750883915.545 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:35.545Z,1750883915.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:35.729Z,1750883915.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:35.732Z,1750883915.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 470.317535 m,
      bearing: 245.131384 deg,
      approach rate: -0.709001 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.131063 deg,
      new cmd heading: 245.131384 deg.

2025-06-25T20:38:35.733Z,1750883915.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278350 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:35.797Z,1750883915.797 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:35.797Z,1750883915.797 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:35.797Z,1750883915.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:36.050Z,1750883916.050 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:36.050Z,1750883916.050 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:36.050Z,1750883916.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:36.134Z,1750883916.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:36.141Z,1750883916.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 470.040283 m,
      bearing: 245.131718 deg,
      approach rate: -0.684974 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.131391 deg,
      new cmd heading: 245.131718 deg.

2025-06-25T20:38:36.142Z,1750883916.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278356 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:36.301Z,1750883916.301 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:36.301Z,1750883916.301 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:36.301Z,1750883916.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:36.537Z,1750883916.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:36.540Z,1750883916.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 469.755920 m,
      bearing: 245.132677 deg,
      approach rate: -0.705456 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.131719 deg,
      new cmd heading: 245.132677 deg.

2025-06-25T20:38:36.541Z,1750883916.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278372 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:36.553Z,1750883916.553 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:36.553Z,1750883916.553 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:36.553Z,1750883916.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:36.805Z,1750883916.805 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:36.805Z,1750883916.805 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:36.805Z,1750883916.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:36.921Z,1750883916.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:36.923Z,1750883916.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 469.487335 m,
      bearing: 245.133601 deg,
      approach rate: -0.699760 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.132675 deg,
      new cmd heading: 245.133601 deg.

2025-06-25T20:38:36.925Z,1750883916.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278389 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:37.057Z,1750883917.057 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:37.057Z,1750883917.057 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:37.057Z,1750883917.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:37.309Z,1750883917.309 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:37.309Z,1750883917.309 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:37.309Z,1750883917.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:37.464Z,1750883917.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:37.466Z,1750883917.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:37.469Z,1750883917.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 469.106598 m,
      bearing: 245.135289 deg,
      approach rate: -0.698290 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.133604 deg,
      new cmd heading: 245.135289 deg.

2025-06-25T20:38:37.470Z,1750883917.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278418 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:37.562Z,1750883917.562 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:37.562Z,1750883917.562 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:37.562Z,1750883917.562 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:37.769Z,1750883917.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:37.772Z,1750883917.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 468.894287 m,
      bearing: 245.136248 deg,
      approach rate: -0.700178 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.135298 deg,
      new cmd heading: 245.136248 deg.

2025-06-25T20:38:37.773Z,1750883917.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278435 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:37.813Z,1750883917.813 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:37.813Z,1750883917.813 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:37.814Z,1750883917.814 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:38.065Z,1750883918.065 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:38.065Z,1750883918.065 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:38.065Z,1750883918.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:38.192Z,1750883918.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:38.195Z,1750883918.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 468.612762 m,
      bearing: 245.137545 deg,
      approach rate: -0.692345 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.136254 deg,
      new cmd heading: 245.137545 deg.

2025-06-25T20:38:38.195Z,1750883918.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278457 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:38.317Z,1750883918.317 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:38.317Z,1750883918.317 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:38.317Z,1750883918.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:38.569Z,1750883918.569 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:38.569Z,1750883918.569 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:38.569Z,1750883918.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:38.708Z,1750883918.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:38.710Z,1750883918.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 468.257751 m,
      bearing: 245.139162 deg,
      approach rate: -0.673018 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.137538 deg,
      new cmd heading: 245.139162 deg.

2025-06-25T20:38:38.711Z,1750883918.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278485 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:38.821Z,1750883918.821 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:38.821Z,1750883918.821 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:38.821Z,1750883918.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:39.033Z,1750883919.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:39.035Z,1750883919.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 468.015411 m,
      bearing: 245.140281 deg,
      approach rate: -0.736618 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.139150 deg,
      new cmd heading: 245.140281 deg.

2025-06-25T20:38:39.040Z,1750883919.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278505 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:39.075Z,1750883919.075 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:39.075Z,1750883919.075 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:39.075Z,1750883919.075 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:39.325Z,1750883919.325 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:39.325Z,1750883919.325 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:39.325Z,1750883919.325 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:39.505Z,1750883919.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:39.508Z,1750883919.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:39.510Z,1750883919.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 467.682068 m,
      bearing: 245.141894 deg,
      approach rate: -0.701814 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.140270 deg,
      new cmd heading: 245.141894 deg.

2025-06-25T20:38:39.511Z,1750883919.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278533 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:39.577Z,1750883919.577 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:39.577Z,1750883919.577 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:39.577Z,1750883919.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:39.829Z,1750883919.829 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:39.829Z,1750883919.829 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:39.829Z,1750883919.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:39.865Z,1750883919.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:39.867Z,1750883919.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 467.438934 m,
      bearing: 245.143076 deg,
      approach rate: -0.680008 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.141882 deg,
      new cmd heading: 245.143076 deg.

2025-06-25T20:38:39.871Z,1750883919.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278554 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:40.080Z,1750883920.080 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:40.081Z,1750883920.081 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:40.081Z,1750883920.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:40.225Z,1750883920.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:40.227Z,1750883920.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 467.186249 m,
      bearing: 245.144310 deg,
      approach rate: -0.702369 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.143084 deg,
      new cmd heading: 245.144310 deg.

2025-06-25T20:38:40.228Z,1750883920.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278575 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:40.333Z,1750883920.333 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:40.333Z,1750883920.333 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:40.333Z,1750883920.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:40.587Z,1750883920.587 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:38:40.587Z,1750883920.587 [DAT](INFO): response not received
2025-06-25T20:38:40.588Z,1750883920.588 [DAT](INFO): DAT read: user:554>

2025-06-25T20:38:40.588Z,1750883920.588 [DAT](ERROR): No response from remote modem.
2025-06-25T20:38:40.588Z,1750883920.588 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:40.589Z,1750883920.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:40.691Z,1750883920.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:40.698Z,1750883920.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 466.872528 m,
      bearing: 245.146168 deg,
      approach rate: -0.673153 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.144314 deg,
      new cmd heading: 245.146168 deg.

2025-06-25T20:38:40.698Z,1750883920.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278608 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:40.796Z,1750883920.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:38:40.841Z,1750883920.841 [DAT](INFO): DAT read: Tx time:20:38:41.9849

2025-06-25T20:38:40.841Z,1750883920.841 [DAT](INFO): Ping request sent.
2025-06-25T20:38:40.841Z,1750883920.841 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:40.842Z,1750883920.842 [DAT](INFO): DAT read: TxSync time:20:38:41.9841

2025-06-25T20:38:40.842Z,1750883920.842 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:40.843Z,1750883920.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001607
2025-06-25T20:38:41.020Z,1750883921.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:41.023Z,1750883921.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 466.641052 m,
      bearing: 245.147542 deg,
      approach rate: -0.703546 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.146172 deg,
      new cmd heading: 245.147542 deg.

2025-06-25T20:38:41.023Z,1750883921.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278632 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:41.097Z,1750883921.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255321
2025-06-25T20:38:41.349Z,1750883921.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507535
2025-06-25T20:38:41.498Z,1750883921.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:41.505Z,1750883921.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 466.330627 m,
      bearing: 245.149401 deg,
      approach rate: -0.649567 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.147538 deg,
      new cmd heading: 245.149401 deg.

2025-06-25T20:38:41.505Z,1750883921.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278664 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:41.601Z,1750883921.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759445
2025-06-25T20:38:41.800Z,1750883921.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:38:41.853Z,1750883921.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011440
2025-06-25T20:38:41.862Z,1750883921.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:41.864Z,1750883921.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:41.867Z,1750883921.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 466.063263 m,
      bearing: 245.150446 deg,
      approach rate: -0.729980 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.149396 deg,
      new cmd heading: 245.150446 deg.

2025-06-25T20:38:41.867Z,1750883921.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278682 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:42.105Z,1750883922.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263542
2025-06-25T20:38:42.253Z,1750883922.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:42.258Z,1750883922.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 465.814087 m,
      bearing: 245.151417 deg,
      approach rate: -0.640091 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.150434 deg,
      new cmd heading: 245.151417 deg.

2025-06-25T20:38:42.258Z,1750883922.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278699 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:42.358Z,1750883922.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515826
2025-06-25T20:38:42.609Z,1750883922.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767560
2025-06-25T20:38:42.681Z,1750883922.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:42.683Z,1750883922.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 465.509399 m,
      bearing: 245.152784 deg,
      approach rate: -0.713186 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.151417 deg,
      new cmd heading: 245.152784 deg.

2025-06-25T20:38:42.700Z,1750883922.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278723 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:42.861Z,1750883922.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019311
2025-06-25T20:38:43.044Z,1750883923.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:43.047Z,1750883923.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 465.264526 m,
      bearing: 245.153839 deg,
      approach rate: -0.673984 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.152783 deg,
      new cmd heading: 245.153839 deg.

2025-06-25T20:38:43.048Z,1750883923.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278742 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:43.113Z,1750883923.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271547
2025-06-25T20:38:43.365Z,1750883923.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523328
2025-06-25T20:38:43.508Z,1750883923.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:43.517Z,1750883923.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 464.991486 m,
      bearing: 245.155018 deg,
      approach rate: -0.595349 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.153849 deg,
      new cmd heading: 245.155018 deg.

2025-06-25T20:38:43.518Z,1750883923.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278762 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:43.618Z,1750883923.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776287
2025-06-25T20:38:43.863Z,1750883923.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:43.869Z,1750883923.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027528
2025-06-25T20:38:43.886Z,1750883923.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:43.893Z,1750883923.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 464.709961 m,
      bearing: 245.156152 deg,
      approach rate: -0.734633 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.155024 deg,
      new cmd heading: 245.156152 deg.

2025-06-25T20:38:43.893Z,1750883923.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278782 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:44.121Z,1750883924.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279477
2025-06-25T20:38:44.263Z,1750883924.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:44.266Z,1750883924.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 464.443085 m,
      bearing: 245.157227 deg,
      approach rate: -0.706721 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.156144 deg,
      new cmd heading: 245.157227 deg.

2025-06-25T20:38:44.267Z,1750883924.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278801 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:44.373Z,1750883924.373 [DAT](INFO): DAT read: Rx Time:20:38:45.1075

2025-06-25T20:38:44.373Z,1750883924.373 [DAT](INFO): Rx dataTimestamp_ set to:1750883924.373098
2025-06-25T20:38:44.374Z,1750883924.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532522
2025-06-25T20:38:44.625Z,1750883924.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783458
2025-06-25T20:38:44.696Z,1750883924.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:44.698Z,1750883924.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 464.145813 m,
      bearing: 245.158186 deg,
      approach rate: -0.687553 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.157237 deg,
      new cmd heading: 245.158186 deg.

2025-06-25T20:38:44.699Z,1750883924.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278818 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:44.884Z,1750883924.884 [DAT](INFO): DAT read: 20:38:45.1075 LVL= 20592, 22945, 16498, 24115, AGC= 69, IDX= 360, 0.50, 2.750, 1.523, 3.105, 2.560, PHS= 0.278,-0.990, 0.542, RAW= 159.3,   2.4, CAL= 160.7,  -6.5, ROT= 349.3,   6.5

2025-06-25T20:38:44.886Z,1750883924.886 [DAT](INFO): got valid direction response:
 20:38:45.1075 LVL= 20592, 22945, 16498, 24115, AGC= 69, IDX= 360, 0.50, 2.750, 1.523, 3.105, 2.560, PHS= 0.278,-0.990, 0.542, RAW= 159.3,   2.4, CAL= 160.7,  -6.5, ROT= 349.3,   6.5

2025-06-25T20:38:44.887Z,1750883924.887 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:38:44.887Z,1750883924.887 [DAT](INFO): Received a bad header
2025-06-25T20:38:44.900Z,1750883924.900 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:38:44.901Z,1750883924.901 [DAT](INFO): direction in FSK: [0.976296,-0.184473,-0.113203]
2025-06-25T20:38:44.918Z,1750883924.918 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:44.918Z,1750883924.918 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:44.918Z,1750883924.918 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:45.085Z,1750883925.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:45.087Z,1750883925.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 463.893951 m,
      bearing: 245.158989 deg,
      approach rate: -0.647557 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.158193 deg,
      new cmd heading: 245.158989 deg.

2025-06-25T20:38:45.088Z,1750883925.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278831 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:45.129Z,1750883925.129 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:45.129Z,1750883925.129 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:45.129Z,1750883925.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:45.381Z,1750883925.381 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:45.381Z,1750883925.381 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:45.381Z,1750883925.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:45.560Z,1750883925.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:45.563Z,1750883925.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 463.573212 m,
      bearing: 245.160025 deg,
      approach rate: -0.676033 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.158985 deg,
      new cmd heading: 245.160025 deg.

2025-06-25T20:38:45.563Z,1750883925.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278850 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:45.633Z,1750883925.633 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:45.633Z,1750883925.633 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:45.634Z,1750883925.634 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:45.885Z,1750883925.885 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:45.885Z,1750883925.885 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:45.885Z,1750883925.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:45.903Z,1750883925.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:45.905Z,1750883925.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:45.907Z,1750883925.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 463.321320 m,
      bearing: 245.160389 deg,
      approach rate: -0.728180 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.160023 deg,
      new cmd heading: 245.160389 deg.

2025-06-25T20:38:45.937Z,1750883925.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278856 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:46.137Z,1750883926.137 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:46.137Z,1750883926.137 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:46.137Z,1750883926.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:46.304Z,1750883926.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:46.306Z,1750883926.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 463.047302 m,
      bearing: 245.160784 deg,
      approach rate: -0.687325 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.160379 deg,
      new cmd heading: 245.160784 deg.

2025-06-25T20:38:46.307Z,1750883926.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278863 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:46.389Z,1750883926.389 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:46.389Z,1750883926.389 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:46.389Z,1750883926.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:46.641Z,1750883926.641 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:46.641Z,1750883926.641 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:46.641Z,1750883926.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:46.738Z,1750883926.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:46.740Z,1750883926.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 462.752777 m,
      bearing: 245.160939 deg,
      approach rate: -0.678612 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.160788 deg,
      new cmd heading: 245.160939 deg.

2025-06-25T20:38:46.741Z,1750883926.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278866 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:46.893Z,1750883926.893 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:46.893Z,1750883926.893 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:46.893Z,1750883926.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:47.108Z,1750883927.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:47.110Z,1750883927.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 462.501068 m,
      bearing: 245.161077 deg,
      approach rate: -0.679967 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.160952 deg,
      new cmd heading: 245.161077 deg.

2025-06-25T20:38:47.111Z,1750883927.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278868 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:47.145Z,1750883927.145 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:47.145Z,1750883927.145 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:47.145Z,1750883927.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:47.397Z,1750883927.397 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:47.397Z,1750883927.397 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:47.397Z,1750883927.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:47.530Z,1750883927.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:47.568Z,1750883927.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 462.230621 m,
      bearing: 245.161256 deg,
      approach rate: -0.642172 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.161089 deg,
      new cmd heading: 245.161256 deg.

2025-06-25T20:38:47.571Z,1750883927.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278871 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:47.649Z,1750883927.649 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:47.650Z,1750883927.650 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:47.650Z,1750883927.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:47.901Z,1750883927.901 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:47.901Z,1750883927.901 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:47.901Z,1750883927.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:47.945Z,1750883927.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:47.947Z,1750883927.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:47.950Z,1750883927.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 461.927002 m,
      bearing: 245.161561 deg,
      approach rate: -0.726564 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.161253 deg,
      new cmd heading: 245.161561 deg.

2025-06-25T20:38:47.950Z,1750883927.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278876 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:48.156Z,1750883928.156 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:48.156Z,1750883928.156 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:48.156Z,1750883928.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:48.325Z,1750883928.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:48.327Z,1750883928.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 461.671143 m,
      bearing: 245.161831 deg,
      approach rate: -0.676912 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.161553 deg,
      new cmd heading: 245.161831 deg.

2025-06-25T20:38:48.328Z,1750883928.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278881 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:48.405Z,1750883928.405 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:48.405Z,1750883928.405 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:48.405Z,1750883928.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:48.657Z,1750883928.657 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:48.657Z,1750883928.657 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:48.657Z,1750883928.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:48.735Z,1750883928.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:48.737Z,1750883928.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 461.384796 m,
      bearing: 245.162422 deg,
      approach rate: -0.698677 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.161827 deg,
      new cmd heading: 245.162422 deg.

2025-06-25T20:38:48.738Z,1750883928.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278892 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:48.908Z,1750883928.908 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:48.909Z,1750883928.909 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:48.909Z,1750883928.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:49.127Z,1750883929.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:49.130Z,1750883929.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 461.116150 m,
      bearing: 245.162988 deg,
      approach rate: -0.684547 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.162428 deg,
      new cmd heading: 245.162988 deg.

2025-06-25T20:38:49.131Z,1750883929.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278902 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:49.181Z,1750883929.181 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:49.181Z,1750883929.181 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:49.181Z,1750883929.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:49.424Z,1750883929.424 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:49.425Z,1750883929.425 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:49.425Z,1750883929.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:49.522Z,1750883929.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:49.525Z,1750883929.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 460.847900 m,
      bearing: 245.163564 deg,
      approach rate: -0.679412 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.163001 deg,
      new cmd heading: 245.163564 deg.

2025-06-25T20:38:49.526Z,1750883929.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278912 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:49.677Z,1750883929.677 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:49.677Z,1750883929.677 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:49.677Z,1750883929.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:49.929Z,1750883929.929 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:49.929Z,1750883929.929 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:49.929Z,1750883929.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:50.033Z,1750883930.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:50.035Z,1750883930.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:50.054Z,1750883930.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 460.494690 m,
      bearing: 245.164910 deg,
      approach rate: -0.687858 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.163575 deg,
      new cmd heading: 245.164910 deg.

2025-06-25T20:38:50.055Z,1750883930.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278935 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:50.181Z,1750883930.181 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:50.181Z,1750883930.181 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:50.181Z,1750883930.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:50.361Z,1750883930.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:50.364Z,1750883930.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 460.272125 m,
      bearing: 245.165769 deg,
      approach rate: -0.683099 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.164914 deg,
      new cmd heading: 245.165769 deg.

2025-06-25T20:38:50.365Z,1750883930.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278950 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:50.433Z,1750883930.433 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:50.433Z,1750883930.433 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:50.434Z,1750883930.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:50.685Z,1750883930.685 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:38:50.685Z,1750883930.685 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:38:50.685Z,1750883930.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:38:50.791Z,1750883930.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:50.810Z,1750883930.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 459.978821 m,
      bearing: 245.166760 deg,
      approach rate: -0.682786 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.165761 deg,
      new cmd heading: 245.166760 deg.

2025-06-25T20:38:50.810Z,1750883930.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278967 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:50.937Z,1750883930.937 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:50.937Z,1750883930.937 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:50.937Z,1750883930.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:51.188Z,1750883931.188 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:51.189Z,1750883931.189 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:51.189Z,1750883931.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:51.259Z,1750883931.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:51.262Z,1750883931.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 459.658386 m,
      bearing: 245.167841 deg,
      approach rate: -0.684783 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.166772 deg,
      new cmd heading: 245.167841 deg.

2025-06-25T20:38:51.262Z,1750883931.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278986 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:51.443Z,1750883931.443 [DAT](INFO): Reached modem response timeout
2025-06-25T20:38:51.444Z,1750883931.444 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:38:51.444Z,1750883931.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:38:51.650Z,1750883931.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:51.658Z,1750883931.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 459.417023 m,
      bearing: 245.168655 deg,
      approach rate: -0.617734 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.167837 deg,
      new cmd heading: 245.168655 deg.

2025-06-25T20:38:51.659Z,1750883931.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279000 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:51.695Z,1750883931.695 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:38:51.695Z,1750883931.695 [DAT](INFO): response not received
2025-06-25T20:38:51.695Z,1750883931.695 [DAT](INFO): DAT read: user:556>

2025-06-25T20:38:51.696Z,1750883931.696 [DAT](INFO): DAT read: Tx time:20:38:52.9350

2025-06-25T20:38:51.696Z,1750883931.696 [DAT](INFO): Ping request sent.
2025-06-25T20:38:51.697Z,1750883931.697 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:38:51.697Z,1750883931.697 [DAT](INFO): publishing transmit ping time
2025-06-25T20:38:51.697Z,1750883931.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-06-25T20:38:51.945Z,1750883931.945 [DAT](INFO): DAT read: TxSync time:20:38:52.9342

2025-06-25T20:38:51.946Z,1750883931.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249095
2025-06-25T20:38:52.152Z,1750883932.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:52.155Z,1750883932.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:52.173Z,1750883932.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 459.065613 m,
      bearing: 245.169715 deg,
      approach rate: -0.695919 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.168657 deg,
      new cmd heading: 245.169715 deg.

2025-06-25T20:38:52.174Z,1750883932.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279019 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:52.197Z,1750883932.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500355
2025-06-25T20:38:52.449Z,1750883932.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752220
2025-06-25T20:38:52.538Z,1750883932.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:52.544Z,1750883932.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 458.794342 m,
      bearing: 245.170603 deg,
      approach rate: -0.708025 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.169722 deg,
      new cmd heading: 245.170603 deg.

2025-06-25T20:38:52.545Z,1750883932.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279034 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:52.701Z,1750883932.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004169
2025-06-25T20:38:52.953Z,1750883932.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256263
2025-06-25T20:38:53.006Z,1750883933.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:53.009Z,1750883933.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 458.470459 m,
      bearing: 245.171597 deg,
      approach rate: -0.691079 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.170596 deg,
      new cmd heading: 245.171597 deg.

2025-06-25T20:38:53.010Z,1750883933.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279052 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:53.205Z,1750883933.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508254
2025-06-25T20:38:53.382Z,1750883933.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:53.386Z,1750883933.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 458.214783 m,
      bearing: 245.172408 deg,
      approach rate: -0.679804 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.171607 deg,
      new cmd heading: 245.172408 deg.

2025-06-25T20:38:53.387Z,1750883933.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279066 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:53.458Z,1750883933.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761605
2025-06-25T20:38:53.709Z,1750883933.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012438
2025-06-25T20:38:53.802Z,1750883933.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:53.805Z,1750883933.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 457.933929 m,
      bearing: 245.173415 deg,
      approach rate: -0.669558 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.172400 deg,
      new cmd heading: 245.173415 deg.

2025-06-25T20:38:53.805Z,1750883933.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279083 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:53.961Z,1750883933.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264226
2025-06-25T20:38:54.186Z,1750883934.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:54.188Z,1750883934.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:54.190Z,1750883934.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 457.674164 m,
      bearing: 245.174354 deg,
      approach rate: -0.673032 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.173411 deg,
      new cmd heading: 245.174354 deg.

2025-06-25T20:38:54.191Z,1750883934.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279100 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:54.229Z,1750883934.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532601
2025-06-25T20:38:54.482Z,1750883934.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785101
2025-06-25T20:38:54.593Z,1750883934.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:54.596Z,1750883934.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 457.401764 m,
      bearing: 245.175341 deg,
      approach rate: -0.672073 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.174367 deg,
      new cmd heading: 245.175341 deg.

2025-06-25T20:38:54.597Z,1750883934.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279117 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:54.733Z,1750883934.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036401
2025-06-25T20:38:54.985Z,1750883934.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288253
2025-06-25T20:38:55.027Z,1750883935.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:55.030Z,1750883935.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 457.108521 m,
      bearing: 245.176341 deg,
      approach rate: -0.675352 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.175350 deg,
      new cmd heading: 245.176341 deg.

2025-06-25T20:38:55.031Z,1750883935.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279134 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:55.237Z,1750883935.237 [DAT](INFO): DAT read: Rx Time:20:38:56.0475

2025-06-25T20:38:55.238Z,1750883935.238 [DAT](INFO): Rx dataTimestamp_ set to:1750883935.237666
2025-06-25T20:38:55.238Z,1750883935.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541936
2025-06-25T20:38:55.411Z,1750883935.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:55.415Z,1750883935.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 456.849152 m,
      bearing: 245.177226 deg,
      approach rate: -0.675669 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.176334 deg,
      new cmd heading: 245.177226 deg.

2025-06-25T20:38:55.415Z,1750883935.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279150 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:55.490Z,1750883935.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793259
2025-06-25T20:38:55.743Z,1750883935.743 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:38:55.744Z,1750883935.744 [DAT](INFO): Received a bad header
2025-06-25T20:38:55.756Z,1750883935.756 [DAT](INFO): DAT read: 004 Mod:MFSK

2025-06-25T20:38:55.757Z,1750883935.757 [DAT](INFO): unknown deviceResponse_: 004 Mod:MFSK

2025-06-25T20:38:55.757Z,1750883935.757 [DAT](INFO): DAT read: 

2025-06-25T20:38:55.757Z,1750883935.757 [DAT](INFO): DAT read: user:557>

2025-06-25T20:38:55.758Z,1750883935.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.061540
2025-06-25T20:38:55.872Z,1750883935.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:55.875Z,1750883935.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 456.552094 m,
      bearing: 245.177770 deg,
      approach rate: -0.644838 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.177235 deg,
      new cmd heading: 245.177770 deg.

2025-06-25T20:38:55.884Z,1750883935.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279160 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:55.993Z,1750883935.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.296164
2025-06-25T20:38:56.206Z,1750883936.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:56.209Z,1750883936.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:56.211Z,1750883936.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 456.316711 m,
      bearing: 245.178198 deg,
      approach rate: -0.699052 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.177782 deg,
      new cmd heading: 245.178198 deg.

2025-06-25T20:38:56.213Z,1750883936.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279167 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:56.245Z,1750883936.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.548305
2025-06-25T20:38:56.497Z,1750883936.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.800188
2025-06-25T20:38:56.612Z,1750883936.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:56.614Z,1750883936.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 456.047241 m,
      bearing: 245.178694 deg,
      approach rate: -0.668263 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.178192 deg,
      new cmd heading: 245.178694 deg.

2025-06-25T20:38:56.615Z,1750883936.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279175 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:56.749Z,1750883936.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.052418
2025-06-25T20:38:57.001Z,1750883937.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.304108
2025-06-25T20:38:57.059Z,1750883937.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:57.066Z,1750883937.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 455.751282 m,
      bearing: 245.179241 deg,
      approach rate: -0.661692 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.178683 deg,
      new cmd heading: 245.179241 deg.

2025-06-25T20:38:57.067Z,1750883937.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279185 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:57.253Z,1750883937.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.556184
2025-06-25T20:38:57.413Z,1750883937.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:57.416Z,1750883937.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 455.512115 m,
      bearing: 245.179687 deg,
      approach rate: -0.675031 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.179230 deg,
      new cmd heading: 245.179687 deg.

2025-06-25T20:38:57.417Z,1750883937.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279193 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:57.510Z,1750883937.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.813673
2025-06-25T20:38:57.761Z,1750883937.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.064247
2025-06-25T20:38:57.887Z,1750883937.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:57.894Z,1750883937.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 455.216125 m,
      bearing: 245.179961 deg,
      approach rate: -0.624491 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.179694 deg,
      new cmd heading: 245.179961 deg.

2025-06-25T20:38:57.895Z,1750883937.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279198 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:58.013Z,1750883938.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.316574
2025-06-25T20:38:58.225Z,1750883938.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:38:58.227Z,1750883938.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:58.229Z,1750883938.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 454.977234 m,
      bearing: 245.180186 deg,
      approach rate: -0.704209 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.179968 deg,
      new cmd heading: 245.180186 deg.

2025-06-25T20:38:58.230Z,1750883938.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279202 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:58.265Z,1750883938.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.568840
2025-06-25T20:38:58.517Z,1750883938.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.820232
2025-06-25T20:38:58.625Z,1750883938.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:58.627Z,1750883938.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 454.714813 m,
      bearing: 245.180434 deg,
      approach rate: -0.658726 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.180186 deg,
      new cmd heading: 245.180434 deg.

2025-06-25T20:38:58.628Z,1750883938.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279206 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:58.769Z,1750883938.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.072259
2025-06-25T20:38:59.021Z,1750883939.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.324225
2025-06-25T20:38:59.081Z,1750883939.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:59.088Z,1750883939.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 454.413086 m,
      bearing: 245.180735 deg,
      approach rate: -0.661052 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.180432 deg,
      new cmd heading: 245.180735 deg.

2025-06-25T20:38:59.089Z,1750883939.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279211 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:59.273Z,1750883939.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.576248
2025-06-25T20:38:59.441Z,1750883939.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:59.443Z,1750883939.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 454.166107 m,
      bearing: 245.180980 deg,
      approach rate: -0.689092 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.180732 deg,
      new cmd heading: 245.180980 deg.

2025-06-25T20:38:59.444Z,1750883939.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279215 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:38:59.525Z,1750883939.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828449
2025-06-25T20:38:59.777Z,1750883939.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.080442
2025-06-25T20:38:59.869Z,1750883939.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:38:59.871Z,1750883939.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 453.876465 m,
      bearing: 245.181431 deg,
      approach rate: -0.675661 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.180978 deg,
      new cmd heading: 245.181431 deg.

2025-06-25T20:38:59.873Z,1750883939.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279223 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:00.029Z,1750883940.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.332193
2025-06-25T20:39:00.254Z,1750883940.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:00.265Z,1750883940.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:00.267Z,1750883940.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 453.623108 m,
      bearing: 245.181837 deg,
      approach rate: -0.654042 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.181443 deg,
      new cmd heading: 245.181837 deg.

2025-06-25T20:39:00.273Z,1750883940.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279230 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:00.281Z,1750883940.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584330
2025-06-25T20:39:00.533Z,1750883940.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.836541
2025-06-25T20:39:00.676Z,1750883940.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:00.679Z,1750883940.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 453.344940 m,
      bearing: 245.182292 deg,
      approach rate: -0.688923 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.181825 deg,
      new cmd heading: 245.182292 deg.

2025-06-25T20:39:00.679Z,1750883940.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279238 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:00.785Z,1750883940.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.088410
2025-06-25T20:39:01.037Z,1750883941.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.340061
2025-06-25T20:39:01.097Z,1750883941.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:01.099Z,1750883941.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 453.049561 m,
      bearing: 245.183192 deg,
      approach rate: -0.675870 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.182290 deg,
      new cmd heading: 245.183192 deg.

2025-06-25T20:39:01.105Z,1750883941.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279254 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:01.289Z,1750883941.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.592194
2025-06-25T20:39:01.452Z,1750883941.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:01.455Z,1750883941.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 452.800934 m,
      bearing: 245.183959 deg,
      approach rate: -0.699683 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.183191 deg,
      new cmd heading: 245.183959 deg.

2025-06-25T20:39:01.456Z,1750883941.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279267 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:01.541Z,1750883941.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.844523
2025-06-25T20:39:01.792Z,1750883941.792 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:01.793Z,1750883941.793 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:01.793Z,1750883941.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:01.937Z,1750883941.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:01.940Z,1750883941.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 452.467682 m,
      bearing: 245.185246 deg,
      approach rate: -0.686939 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.183956 deg,
      new cmd heading: 245.185246 deg.

2025-06-25T20:39:01.941Z,1750883941.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279290 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:02.045Z,1750883942.045 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:02.045Z,1750883942.045 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:02.045Z,1750883942.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:02.273Z,1750883942.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:02.275Z,1750883942.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:02.278Z,1750883942.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 452.237213 m,
      bearing: 245.186154 deg,
      approach rate: -0.681425 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.185240 deg,
      new cmd heading: 245.186154 deg.

2025-06-25T20:39:02.279Z,1750883942.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279305 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:02.296Z,1750883942.296 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:02.297Z,1750883942.297 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:02.297Z,1750883942.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:02.549Z,1750883942.549 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:39:02.549Z,1750883942.549 [DAT](INFO): response not received
2025-06-25T20:39:02.550Z,1750883942.550 [DAT](INFO): DAT read: user:558>

2025-06-25T20:39:02.550Z,1750883942.550 [DAT](INFO): DAT read: Tx time:20:39:03.8850

2025-06-25T20:39:02.551Z,1750883942.551 [DAT](INFO): Ping request sent.
2025-06-25T20:39:02.551Z,1750883942.551 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:02.551Z,1750883942.551 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:02.551Z,1750883942.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-06-25T20:39:02.697Z,1750883942.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:02.701Z,1750883942.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 451.943970 m,
      bearing: 245.187323 deg,
      approach rate: -0.695104 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.186142 deg,
      new cmd heading: 245.187323 deg.

2025-06-25T20:39:02.701Z,1750883942.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279326 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:02.805Z,1750883942.805 [DAT](INFO): DAT read: TxSync time:20:39:03.8842

2025-06-25T20:39:02.808Z,1750883942.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256318
2025-06-25T20:39:03.053Z,1750883943.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502200
2025-06-25T20:39:03.119Z,1750883943.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:03.126Z,1750883943.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 451.663635 m,
      bearing: 245.189375 deg,
      approach rate: -0.664550 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.187317 deg,
      new cmd heading: 245.189375 deg.

2025-06-25T20:39:03.127Z,1750883943.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279362 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:03.305Z,1750883943.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754094
2025-06-25T20:39:03.550Z,1750883943.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:03.553Z,1750883943.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 451.359802 m,
      bearing: 245.191664 deg,
      approach rate: -0.705433 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.189366 deg,
      new cmd heading: 245.191664 deg.

2025-06-25T20:39:03.553Z,1750883943.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279402 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:03.557Z,1750883943.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006410
2025-06-25T20:39:03.812Z,1750883943.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260481
2025-06-25T20:39:03.949Z,1750883943.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:03.956Z,1750883943.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 451.088013 m,
      bearing: 245.194364 deg,
      approach rate: -0.680152 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.191661 deg,
      new cmd heading: 245.194364 deg.

2025-06-25T20:39:03.957Z,1750883943.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279449 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:04.061Z,1750883944.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510469
2025-06-25T20:39:04.308Z,1750883944.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:04.310Z,1750883944.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:04.313Z,1750883944.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762445
2025-06-25T20:39:04.315Z,1750883944.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 450.832062 m,
      bearing: 245.196924 deg,
      approach rate: -0.709560 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.194366 deg,
      new cmd heading: 245.196924 deg.

2025-06-25T20:39:04.315Z,1750883944.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279494 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:04.565Z,1750883944.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014202
2025-06-25T20:39:04.712Z,1750883944.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:04.714Z,1750883944.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 450.555511 m,
      bearing: 245.199656 deg,
      approach rate: -0.688796 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.196934 deg,
      new cmd heading: 245.199656 deg.

2025-06-25T20:39:04.715Z,1750883944.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279541 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:04.820Z,1750883944.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268302
2025-06-25T20:39:05.069Z,1750883945.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517933
2025-06-25T20:39:05.149Z,1750883945.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:05.156Z,1750883945.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 450.266541 m,
      bearing: 245.202471 deg,
      approach rate: -0.660012 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.199666 deg,
      new cmd heading: 245.202471 deg.

2025-06-25T20:39:05.157Z,1750883945.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279591 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:05.321Z,1750883945.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770002
2025-06-25T20:39:05.495Z,1750883945.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:05.497Z,1750883945.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 450.016937 m,
      bearing: 245.204862 deg,
      approach rate: -0.723307 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.202480 deg,
      new cmd heading: 245.204862 deg.

2025-06-25T20:39:05.498Z,1750883945.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279632 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:05.573Z,1750883945.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022271
2025-06-25T20:39:05.827Z,1750883945.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276154
2025-06-25T20:39:05.944Z,1750883945.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:05.946Z,1750883945.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 449.715515 m,
      bearing: 245.207573 deg,
      approach rate: -0.677195 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.204857 deg,
      new cmd heading: 245.207573 deg.

2025-06-25T20:39:05.947Z,1750883945.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279679 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:06.077Z,1750883946.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526377
2025-06-25T20:39:06.310Z,1750883946.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:06.313Z,1750883946.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 449.458069 m,
      bearing: 245.209845 deg,
      approach rate: -0.694914 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.207561 deg,
      new cmd heading: 245.209845 deg.

2025-06-25T20:39:06.314Z,1750883946.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279719 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:06.332Z,1750883946.332 [DAT](INFO): DAT read: Rx Time:20:39:06.9875

2025-06-25T20:39:06.333Z,1750883946.333 [DAT](INFO): Rx dataTimestamp_ set to:1750883946.332489
2025-06-25T20:39:06.333Z,1750883946.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782604
2025-06-25T20:39:06.581Z,1750883946.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030048
2025-06-25T20:39:06.717Z,1750883946.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:06.719Z,1750883946.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:06.741Z,1750883946.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 449.173004 m,
      bearing: 245.212313 deg,
      approach rate: -0.697592 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.209856 deg,
      new cmd heading: 245.212313 deg.

2025-06-25T20:39:06.742Z,1750883946.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279762 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:06.839Z,1750883946.839 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:39:06.840Z,1750883946.840 [DAT](INFO): Received a bad header
2025-06-25T20:39:06.854Z,1750883946.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.302423
2025-06-25T20:39:07.085Z,1750883947.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534106
2025-06-25T20:39:07.189Z,1750883947.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:07.192Z,1750883947.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 448.852936 m,
      bearing: 245.214693 deg,
      approach rate: -0.680023 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.212315 deg,
      new cmd heading: 245.214693 deg.

2025-06-25T20:39:07.193Z,1750883947.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279804 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:07.337Z,1750883947.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786023
2025-06-25T20:39:07.517Z,1750883947.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:07.519Z,1750883947.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 448.630524 m,
      bearing: 245.216327 deg,
      approach rate: -0.679281 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.214692 deg,
      new cmd heading: 245.216327 deg.

2025-06-25T20:39:07.520Z,1750883947.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279832 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:07.590Z,1750883947.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038951
2025-06-25T20:39:07.843Z,1750883947.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291942
2025-06-25T20:39:07.945Z,1750883947.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:07.948Z,1750883947.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 448.332214 m,
      bearing: 245.217925 deg,
      approach rate: -0.696127 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.216331 deg,
      new cmd heading: 245.217925 deg.

2025-06-25T20:39:07.949Z,1750883947.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279860 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:08.093Z,1750883948.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542034
2025-06-25T20:39:08.325Z,1750883948.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:08.328Z,1750883948.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 448.067871 m,
      bearing: 245.219325 deg,
      approach rate: -0.696137 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.217916 deg,
      new cmd heading: 245.219325 deg.

2025-06-25T20:39:08.329Z,1750883948.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279885 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:08.345Z,1750883948.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794207
2025-06-25T20:39:08.597Z,1750883948.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046012
2025-06-25T20:39:08.723Z,1750883948.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:08.725Z,1750883948.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:08.744Z,1750883948.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 447.789612 m,
      bearing: 245.220790 deg,
      approach rate: -0.695009 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.219337 deg,
      new cmd heading: 245.220790 deg.

2025-06-25T20:39:08.745Z,1750883948.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279910 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:08.852Z,1750883948.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300973
2025-06-25T20:39:09.101Z,1750883949.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550154
2025-06-25T20:39:09.188Z,1750883949.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:09.190Z,1750883949.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 447.479919 m,
      bearing: 245.221820 deg,
      approach rate: -0.676006 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.220785 deg,
      new cmd heading: 245.221820 deg.

2025-06-25T20:39:09.191Z,1750883949.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279928 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:09.353Z,1750883949.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802138
2025-06-25T20:39:09.551Z,1750883949.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:09.562Z,1750883949.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 447.234711 m,
      bearing: 245.222639 deg,
      approach rate: -0.671259 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.221823 deg,
      new cmd heading: 245.222639 deg.

2025-06-25T20:39:09.562Z,1750883949.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279943 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:09.605Z,1750883949.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054566
2025-06-25T20:39:09.861Z,1750883949.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310197
2025-06-25T20:39:09.963Z,1750883949.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:09.965Z,1750883949.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 446.941589 m,
      bearing: 245.223158 deg,
      approach rate: -0.708254 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.222643 deg,
      new cmd heading: 245.223158 deg.

2025-06-25T20:39:09.966Z,1750883949.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279952 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:10.109Z,1750883950.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558019
2025-06-25T20:39:10.350Z,1750883950.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:10.353Z,1750883950.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 446.677216 m,
      bearing: 245.223633 deg,
      approach rate: -0.682590 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.223162 deg,
      new cmd heading: 245.223633 deg.

2025-06-25T20:39:10.354Z,1750883950.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279960 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:10.361Z,1750883950.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810197
2025-06-25T20:39:10.613Z,1750883950.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062087
2025-06-25T20:39:10.746Z,1750883950.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:10.748Z,1750883950.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:10.751Z,1750883950.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 446.405731 m,
      bearing: 245.224124 deg,
      approach rate: -0.681543 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.223626 deg,
      new cmd heading: 245.224124 deg.

2025-06-25T20:39:10.752Z,1750883950.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279968 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:10.867Z,1750883950.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316042
2025-06-25T20:39:11.117Z,1750883951.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565995
2025-06-25T20:39:11.192Z,1750883951.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:11.195Z,1750883951.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 446.122162 m,
      bearing: 245.224558 deg,
      approach rate: -0.638609 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.224118 deg,
      new cmd heading: 245.224558 deg.

2025-06-25T20:39:11.200Z,1750883951.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279976 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:11.369Z,1750883951.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818065
2025-06-25T20:39:11.556Z,1750883951.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:11.559Z,1750883951.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 445.860474 m,
      bearing: 245.224963 deg,
      approach rate: -0.718987 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.224555 deg,
      new cmd heading: 245.224963 deg.

2025-06-25T20:39:11.560Z,1750883951.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279983 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:11.621Z,1750883951.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070701
2025-06-25T20:39:11.875Z,1750883951.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324287
2025-06-25T20:39:11.922Z,1750883951.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:39:11.992Z,1750883951.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:11.994Z,1750883951.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 445.570587 m,
      bearing: 245.225908 deg,
      approach rate: -0.666049 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.224965 deg,
      new cmd heading: 245.225908 deg.

2025-06-25T20:39:11.995Z,1750883951.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280000 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:12.125Z,1750883952.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574568
2025-06-25T20:39:12.374Z,1750883952.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:12.377Z,1750883952.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826160
2025-06-25T20:39:12.378Z,1750883952.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 445.316315 m,
      bearing: 245.226732 deg,
      approach rate: -0.665819 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.225921 deg,
      new cmd heading: 245.226732 deg.

2025-06-25T20:39:12.379Z,1750883952.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280014 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:12.629Z,1750883952.629 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:12.629Z,1750883952.629 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:12.629Z,1750883952.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:12.766Z,1750883952.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:12.769Z,1750883952.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:12.771Z,1750883952.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 445.053589 m,
      bearing: 245.227574 deg,
      approach rate: -0.664782 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.226741 deg,
      new cmd heading: 245.227574 deg.

2025-06-25T20:39:12.772Z,1750883952.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280028 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:12.881Z,1750883952.881 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:12.881Z,1750883952.881 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:12.882Z,1750883952.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:12.926Z,1750883952.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:39:13.132Z,1750883953.132 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:13.133Z,1750883953.133 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:13.133Z,1750883953.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:13.217Z,1750883953.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:13.219Z,1750883953.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 444.765015 m,
      bearing: 245.228295 deg,
      approach rate: -0.651167 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.227560 deg,
      new cmd heading: 245.228295 deg.

2025-06-25T20:39:13.224Z,1750883953.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280041 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:13.385Z,1750883953.385 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:13.385Z,1750883953.385 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:13.385Z,1750883953.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:13.577Z,1750883953.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:13.579Z,1750883953.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 444.518127 m,
      bearing: 245.228897 deg,
      approach rate: -0.676663 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.228298 deg,
      new cmd heading: 245.228897 deg.

2025-06-25T20:39:13.580Z,1750883953.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280052 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:13.639Z,1750883953.639 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:39:13.642Z,1750883953.642 [DAT](INFO): response not received
2025-06-25T20:39:13.643Z,1750883953.643 [DAT](INFO): DAT read: user:560>

2025-06-25T20:39:13.644Z,1750883953.644 [DAT](INFO): DAT read: Tx time:20:39:14.8351

2025-06-25T20:39:13.645Z,1750883953.645 [DAT](INFO): Ping request sent.
2025-06-25T20:39:13.645Z,1750883953.645 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:13.646Z,1750883953.646 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:13.647Z,1750883953.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001371
2025-06-25T20:39:13.889Z,1750883953.889 [DAT](INFO): DAT read: TxSync time:20:39:14.8343

2025-06-25T20:39:13.890Z,1750883953.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244479
2025-06-25T20:39:14.090Z,1750883954.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:14.097Z,1750883954.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 444.192505 m,
      bearing: 245.230546 deg,
      approach rate: -0.634225 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.228899 deg,
      new cmd heading: 245.230546 deg.

2025-06-25T20:39:14.098Z,1750883954.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280080 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:14.141Z,1750883954.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495608
2025-06-25T20:39:14.393Z,1750883954.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747714
2025-06-25T20:39:14.414Z,1750883954.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:14.421Z,1750883954.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 443.973206 m,
      bearing: 245.231668 deg,
      approach rate: -0.676322 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.230538 deg,
      new cmd heading: 245.231668 deg.

2025-06-25T20:39:14.422Z,1750883954.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280100 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:14.645Z,1750883954.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000162
2025-06-25T20:39:14.826Z,1750883954.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:14.828Z,1750883954.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:14.830Z,1750883954.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 443.692871 m,
      bearing: 245.233095 deg,
      approach rate: -0.678272 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.231658 deg,
      new cmd heading: 245.233095 deg.

2025-06-25T20:39:14.831Z,1750883954.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280125 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:14.898Z,1750883954.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252408
2025-06-25T20:39:15.149Z,1750883955.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503588
2025-06-25T20:39:15.399Z,1750883955.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:15.409Z,1750883955.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763619
2025-06-25T20:39:15.426Z,1750883955.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 443.318237 m,
      bearing: 245.235443 deg,
      approach rate: -0.655511 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.233106 deg,
      new cmd heading: 245.235443 deg.

2025-06-25T20:39:15.427Z,1750883955.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280166 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:15.665Z,1750883955.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019755
2025-06-25T20:39:15.870Z,1750883955.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:15.890Z,1750883955.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 443.010101 m,
      bearing: 245.237233 deg,
      approach rate: -0.654646 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.235456 deg,
      new cmd heading: 245.237233 deg.

2025-06-25T20:39:15.892Z,1750883955.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280197 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:15.914Z,1750883955.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268683
2025-06-25T20:39:16.165Z,1750883956.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519508
2025-06-25T20:39:16.371Z,1750883956.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:16.374Z,1750883956.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 442.675110 m,
      bearing: 245.238766 deg,
      approach rate: -0.668022 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.237232 deg,
      new cmd heading: 245.238766 deg.

2025-06-25T20:39:16.375Z,1750883956.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280224 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:16.417Z,1750883956.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772211
2025-06-25T20:39:16.670Z,1750883956.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024316
2025-06-25T20:39:16.753Z,1750883956.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:16.756Z,1750883956.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 442.420563 m,
      bearing: 245.239919 deg,
      approach rate: -0.667155 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.238762 deg,
      new cmd heading: 245.239919 deg.

2025-06-25T20:39:16.757Z,1750883956.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280244 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:16.921Z,1750883956.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275574
2025-06-25T20:39:17.142Z,1750883957.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:17.147Z,1750883957.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:17.173Z,1750883957.173 [DAT](INFO): DAT read: Rx Time:20:39:17.9275

2025-06-25T20:39:17.173Z,1750883957.173 [DAT](INFO): Rx dataTimestamp_ set to:1750883957.173063
2025-06-25T20:39:17.174Z,1750883957.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528687
2025-06-25T20:39:17.206Z,1750883957.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 442.157410 m,
      bearing: 245.240807 deg,
      approach rate: -0.673055 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.239909 deg,
      new cmd heading: 245.240807 deg.

2025-06-25T20:39:17.207Z,1750883957.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280260 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:17.425Z,1750883957.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779713
2025-06-25T20:39:17.544Z,1750883957.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:17.547Z,1750883957.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 441.898590 m,
      bearing: 245.241686 deg,
      approach rate: -0.647190 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.240811 deg,
      new cmd heading: 245.241686 deg.

2025-06-25T20:39:17.547Z,1750883957.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280275 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:17.683Z,1750883957.683 [DAT](INFO): DAT read: 20:39:17.9275 LVL= 23920, 20721, 20658, 26051, AGC= 69, IDX= 356, 0.40, 1.748, 0.667, 2.214, 1.502, PHS= 0.334,-0.788, 0.709, RAW= 163.9,  -3.8, CAL= 166.7, -11.5, ROT= 343.3,  11.5

2025-06-25T20:39:17.685Z,1750883957.685 [DAT](INFO): got valid direction response:
 20:39:17.9275 LVL= 23920, 20721, 20658, 26051, AGC= 69, IDX= 356, 0.40, 1.748, 0.667, 2.214, 1.502, PHS= 0.334,-0.788, 0.709, RAW= 163.9,  -3.8, CAL= 166.7, -11.5, ROT= 343.3,  11.5

2025-06-25T20:39:17.685Z,1750883957.685 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:39:17.686Z,1750883957.686 [DAT](INFO): Received a bad header
2025-06-25T20:39:17.703Z,1750883957.703 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:39:17.708Z,1750883957.708 [DAT](INFO): direction in FSK: [0.938594,-0.281592,-0.199368]
2025-06-25T20:39:17.711Z,1750883957.711 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:17.711Z,1750883957.711 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:17.711Z,1750883957.711 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:17.929Z,1750883957.929 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:17.929Z,1750883957.929 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:17.929Z,1750883957.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:17.941Z,1750883957.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:17.943Z,1750883957.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 441.624908 m,
      bearing: 245.242645 deg,
      approach rate: -0.689355 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.241685 deg,
      new cmd heading: 245.242645 deg.

2025-06-25T20:39:17.945Z,1750883957.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280292 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:18.181Z,1750883958.181 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:18.181Z,1750883958.181 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:18.181Z,1750883958.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:18.380Z,1750883958.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:18.382Z,1750883958.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 441.335022 m,
      bearing: 245.243327 deg,
      approach rate: -0.666731 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.242641 deg,
      new cmd heading: 245.243327 deg.

2025-06-25T20:39:18.383Z,1750883958.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280303 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:18.433Z,1750883958.433 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:18.433Z,1750883958.433 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:18.434Z,1750883958.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:18.685Z,1750883958.685 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:18.685Z,1750883958.685 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:18.685Z,1750883958.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:18.755Z,1750883958.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:18.758Z,1750883958.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 441.065613 m,
      bearing: 245.243999 deg,
      approach rate: -0.710490 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.243324 deg,
      new cmd heading: 245.243999 deg.

2025-06-25T20:39:18.758Z,1750883958.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280315 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:18.939Z,1750883958.939 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:18.939Z,1750883958.939 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:18.939Z,1750883958.939 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:19.176Z,1750883959.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:19.178Z,1750883959.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:19.181Z,1750883959.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 440.771820 m,
      bearing: 245.244642 deg,
      approach rate: -0.694220 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.244007 deg,
      new cmd heading: 245.244642 deg.

2025-06-25T20:39:19.182Z,1750883959.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280326 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:19.189Z,1750883959.189 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:19.189Z,1750883959.189 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:19.189Z,1750883959.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:19.441Z,1750883959.441 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:19.441Z,1750883959.441 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:19.441Z,1750883959.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:19.560Z,1750883959.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:19.562Z,1750883959.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 440.506134 m,
      bearing: 245.245273 deg,
      approach rate: -0.695899 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.244636 deg,
      new cmd heading: 245.245273 deg.

2025-06-25T20:39:19.563Z,1750883959.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280337 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:19.693Z,1750883959.693 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:19.693Z,1750883959.693 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:19.693Z,1750883959.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:19.944Z,1750883959.944 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:19.945Z,1750883959.945 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:19.945Z,1750883959.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:20.013Z,1750883960.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:20.029Z,1750883960.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 440.221527 m,
      bearing: 245.245950 deg,
      approach rate: -0.636824 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.245264 deg,
      new cmd heading: 245.245950 deg.

2025-06-25T20:39:20.037Z,1750883960.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280349 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:20.197Z,1750883960.197 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:20.197Z,1750883960.197 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:20.197Z,1750883960.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:20.386Z,1750883960.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:20.389Z,1750883960.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 439.932098 m,
      bearing: 245.246049 deg,
      approach rate: -0.762568 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.245947 deg,
      new cmd heading: 245.246049 deg.

2025-06-25T20:39:20.390Z,1750883960.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280351 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:20.449Z,1750883960.449 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:20.449Z,1750883960.449 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:20.449Z,1750883960.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:20.701Z,1750883960.701 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:20.701Z,1750883960.701 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:20.701Z,1750883960.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:20.773Z,1750883960.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:20.775Z,1750883960.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 439.670288 m,
      bearing: 245.246241 deg,
      approach rate: -0.679681 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.246056 deg,
      new cmd heading: 245.246241 deg.

2025-06-25T20:39:20.776Z,1750883960.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280354 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:20.952Z,1750883960.952 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:20.953Z,1750883960.953 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:20.953Z,1750883960.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:21.186Z,1750883961.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:21.189Z,1750883961.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:21.191Z,1750883961.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 439.380676 m,
      bearing: 245.246889 deg,
      approach rate: -0.694148 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.246248 deg,
      new cmd heading: 245.246889 deg.

2025-06-25T20:39:21.192Z,1750883961.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280365 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:21.205Z,1750883961.205 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:21.205Z,1750883961.205 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:21.205Z,1750883961.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:21.456Z,1750883961.456 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:21.457Z,1750883961.457 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:21.457Z,1750883961.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:21.579Z,1750883961.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:21.582Z,1750883961.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 439.113281 m,
      bearing: 245.247509 deg,
      approach rate: -0.684633 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.246876 deg,
      new cmd heading: 245.247509 deg.

2025-06-25T20:39:21.583Z,1750883961.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280376 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:21.709Z,1750883961.709 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:21.709Z,1750883961.709 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:21.709Z,1750883961.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:21.961Z,1750883961.961 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:21.961Z,1750883961.961 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:21.961Z,1750883961.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:21.995Z,1750883961.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:22.003Z,1750883962.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 438.843506 m,
      bearing: 245.248181 deg,
      approach rate: -0.649532 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.247504 deg,
      new cmd heading: 245.248181 deg.

2025-06-25T20:39:22.008Z,1750883962.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280388 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:22.213Z,1750883962.213 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:22.213Z,1750883962.213 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:22.213Z,1750883962.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:22.421Z,1750883962.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:22.428Z,1750883962.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 438.554352 m,
      bearing: 245.248975 deg,
      approach rate: -0.677754 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.248187 deg,
      new cmd heading: 245.248975 deg.

2025-06-25T20:39:22.429Z,1750883962.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280402 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:22.465Z,1750883962.465 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:22.465Z,1750883962.465 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:22.465Z,1750883962.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:22.717Z,1750883962.717 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:22.717Z,1750883962.717 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:22.717Z,1750883962.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:22.807Z,1750883962.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:22.809Z,1750883962.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 438.279510 m,
      bearing: 245.249750 deg,
      approach rate: -0.712837 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.248980 deg,
      new cmd heading: 245.249750 deg.

2025-06-25T20:39:22.810Z,1750883962.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280416 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:22.968Z,1750883962.968 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:22.969Z,1750883962.969 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:22.969Z,1750883962.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:23.221Z,1750883963.221 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:23.221Z,1750883963.221 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:23.221Z,1750883963.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:23.227Z,1750883963.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:23.229Z,1750883963.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:23.232Z,1750883963.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 437.999268 m,
      bearing: 245.251017 deg,
      approach rate: -0.663454 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.249745 deg,
      new cmd heading: 245.251017 deg.

2025-06-25T20:39:23.233Z,1750883963.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280438 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:23.473Z,1750883963.473 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:23.473Z,1750883963.473 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:23.473Z,1750883963.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:39:23.590Z,1750883963.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:23.593Z,1750883963.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 437.757050 m,
      bearing: 245.252126 deg,
      approach rate: -0.672074 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.251029 deg,
      new cmd heading: 245.252126 deg.

2025-06-25T20:39:23.594Z,1750883963.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280457 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:23.724Z,1750883963.724 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:23.725Z,1750883963.725 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:23.725Z,1750883963.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:23.980Z,1750883963.980 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:23.981Z,1750883963.981 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:23.981Z,1750883963.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:24.005Z,1750883964.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:24.009Z,1750883964.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 437.479797 m,
      bearing: 245.253399 deg,
      approach rate: -0.667071 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.252122 deg,
      new cmd heading: 245.253399 deg.

2025-06-25T20:39:24.009Z,1750883964.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280479 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:24.232Z,1750883964.232 [DAT](INFO): Reached modem response timeout
2025-06-25T20:39:24.233Z,1750883964.233 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:39:24.233Z,1750883964.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:24.454Z,1750883964.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:24.468Z,1750883964.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 437.188202 m,
      bearing: 245.255440 deg,
      approach rate: -0.649453 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.253406 deg,
      new cmd heading: 245.255440 deg.

2025-06-25T20:39:24.469Z,1750883964.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280515 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:24.485Z,1750883964.485 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:39:24.485Z,1750883964.485 [DAT](INFO): response not received
2025-06-25T20:39:24.486Z,1750883964.486 [DAT](INFO): DAT read: user:562>

2025-06-25T20:39:24.486Z,1750883964.486 [DAT](INFO): DAT read: Tx time:20:39:25.7852

2025-06-25T20:39:24.487Z,1750883964.487 [DAT](INFO): Ping request sent.
2025-06-25T20:39:24.487Z,1750883964.487 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:24.487Z,1750883964.487 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:24.488Z,1750883964.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-06-25T20:39:24.737Z,1750883964.737 [DAT](INFO): DAT read: TxSync time:20:39:25.7844

2025-06-25T20:39:24.738Z,1750883964.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814
2025-06-25T20:39:24.829Z,1750883964.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:24.836Z,1750883964.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 436.930023 m,
      bearing: 245.257234 deg,
      approach rate: -0.688299 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.255427 deg,
      new cmd heading: 245.257234 deg.

2025-06-25T20:39:24.837Z,1750883964.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280546 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:24.989Z,1750883964.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501967
2025-06-25T20:39:25.235Z,1750883965.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:25.238Z,1750883965.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:25.241Z,1750883965.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754055
2025-06-25T20:39:25.242Z,1750883965.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 436.654724 m,
      bearing: 245.259294 deg,
      approach rate: -0.673813 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.257231 deg,
      new cmd heading: 245.259294 deg.

2025-06-25T20:39:25.243Z,1750883965.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280582 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:25.493Z,1750883965.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005891
2025-06-25T20:39:25.617Z,1750883965.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:25.620Z,1750883965.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 436.399750 m,
      bearing: 245.261223 deg,
      approach rate: -0.672418 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.259307 deg,
      new cmd heading: 245.261223 deg.

2025-06-25T20:39:25.621Z,1750883965.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280616 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:25.745Z,1750883965.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257979
2025-06-25T20:39:25.997Z,1750883965.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510023
2025-06-25T20:39:26.015Z,1750883966.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:26.017Z,1750883966.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 436.134827 m,
      bearing: 245.263247 deg,
      approach rate: -0.666208 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.261219 deg,
      new cmd heading: 245.263247 deg.

2025-06-25T20:39:26.018Z,1750883966.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280651 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:26.250Z,1750883966.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763283
2025-06-25T20:39:26.501Z,1750883966.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014082
2025-06-25T20:39:26.502Z,1750883966.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:26.505Z,1750883966.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 435.803894 m,
      bearing: 245.266073 deg,
      approach rate: -0.681859 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.263241 deg,
      new cmd heading: 245.266073 deg.

2025-06-25T20:39:26.506Z,1750883966.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280701 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:26.753Z,1750883966.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265905
2025-06-25T20:39:26.838Z,1750883966.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:26.861Z,1750883966.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 435.576080 m,
      bearing: 245.268005 deg,
      approach rate: -0.674041 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.266083 deg,
      new cmd heading: 245.268005 deg.

2025-06-25T20:39:26.862Z,1750883966.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280734 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:27.005Z,1750883967.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517907
2025-06-25T20:39:27.265Z,1750883967.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778021
2025-06-25T20:39:27.287Z,1750883967.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:27.290Z,1750883967.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:27.292Z,1750883967.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 435.263153 m,
      bearing: 245.270951 deg,
      approach rate: -0.693074 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.267995 deg,
      new cmd heading: 245.270951 deg.

2025-06-25T20:39:27.293Z,1750883967.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280786 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:27.517Z,1750883967.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030175
2025-06-25T20:39:27.684Z,1750883967.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:27.686Z,1750883967.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 435.007599 m,
      bearing: 245.273331 deg,
      approach rate: -0.655116 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.270946 deg,
      new cmd heading: 245.273331 deg.

2025-06-25T20:39:27.687Z,1750883967.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280827 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:27.769Z,1750883967.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282005
2025-06-25T20:39:28.021Z,1750883968.021 [DAT](INFO): DAT read: Rx Time:20:39:28.8675

2025-06-25T20:39:28.021Z,1750883968.021 [DAT](INFO): Rx dataTimestamp_ set to:1750883968.021192
2025-06-25T20:39:28.022Z,1750883968.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535187
2025-06-25T20:39:28.186Z,1750883968.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:28.193Z,1750883968.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 434.670776 m,
      bearing: 245.276427 deg,
      approach rate: -0.664835 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.273323 deg,
      new cmd heading: 245.276427 deg.

2025-06-25T20:39:28.194Z,1750883968.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280881 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:28.273Z,1750883968.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786214
2025-06-25T20:39:28.525Z,1750883968.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037994
2025-06-25T20:39:28.627Z,1750883968.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:28.639Z,1750883968.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 434.389160 m,
      bearing: 245.279321 deg,
      approach rate: -0.639061 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.276437 deg,
      new cmd heading: 245.279321 deg.

2025-06-25T20:39:28.645Z,1750883968.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280932 target range: 1002.611389 and range: 554.40 m.
2025-06-25T20:39:28.783Z,1750883968.783 [DAT](INFO): DAT read: 20:39:28.8675 LVL= 30032, 27729, 27986, 32755, AGC= 71, IDX= 349, 0.14, 0.746,-0.464, 1.080, 0.325, PHS= 0.509,-0.742, 0.751, RAW= 158.7,  -7.5, CAL= 163.1, -14.9, ROT= 346.9,  14.9

2025-06-25T20:39:28.784Z,1750883968.784 [DAT](INFO): got valid direction response:
 20:39:28.8675 LVL= 30032, 27729, 27986, 32755, AGC= 71, IDX= 349, 0.14, 0.746,-0.464, 1.080, 0.325, PHS= 0.509,-0.742, 0.751, RAW= 158.7,  -7.5, CAL= 163.1, -14.9, ROT= 346.9,  14.9

2025-06-25T20:39:28.785Z,1750883968.785 [DAT](INFO): DAT read: Bearing 346.9,  14.9 (Local)

2025-06-25T20:39:28.785Z,1750883968.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.9,  14.9 (Local)

2025-06-25T20:39:28.787Z,1750883968.787 [DAT](INFO): DAT read: Range 10 to 50 : 508.6 m  (Round-trip  678.2 ms) speed  0.5 m/s

2025-06-25T20:39:28.788Z,1750883968.788 [DAT](INFO): DAT read: user:563>

2025-06-25T20:39:28.789Z,1750883968.789 [DAT](INFO): DAT read: Tx time:20:39:29.9852

2025-06-25T20:39:28.789Z,1750883968.789 [DAT](INFO): Ping request sent.
2025-06-25T20:39:28.789Z,1750883968.789 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:28.789Z,1750883968.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:28.790Z,1750883968.790 [DAT](INFO): direction in FSK: [0.941227,-0.219031,-0.257133]
2025-06-25T20:39:28.791Z,1750883968.791 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:28.791Z,1750883968.791 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:28.795Z,1750883968.795 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:28.795Z,1750883968.795 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:28.977Z,1750883968.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 508.600006 m,
      deltaT: 59.027964 s,
      deltaX: -45.800018 m,
      approachRate: -0.775904 m/s,
      rangeRepo size: 4

2025-06-25T20:39:28.977Z,1750883968.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:28.989Z,1750883968.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 434.112457 m,
      bearing: 245.282155 deg,
      approach rate: -0.802521 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.279333 deg,
      new cmd heading: 245.282155 deg.

2025-06-25T20:39:28.990Z,1750883968.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280981 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:29.032Z,1750883969.032 [DAT](INFO): DAT read: TxSync time:20:39:29.9844

2025-06-25T20:39:29.385Z,1750883969.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:29.387Z,1750883969.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:29.390Z,1750883969.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 433.818176 m,
      bearing: 245.284761 deg,
      approach rate: -0.708797 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.282147 deg,
      new cmd heading: 245.284761 deg.

2025-06-25T20:39:29.390Z,1750883969.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281027 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:29.533Z,1750883969.533 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:29.533Z,1750883969.533 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:29.533Z,1750883969.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:29.742Z,1750883969.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:29.744Z,1750883969.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 433.566986 m,
      bearing: 245.286988 deg,
      approach rate: -0.708001 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.284770 deg,
      new cmd heading: 245.286988 deg.

2025-06-25T20:39:29.745Z,1750883969.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281065 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:29.785Z,1750883969.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996004
2025-06-25T20:39:30.037Z,1750883970.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247907
2025-06-25T20:39:30.170Z,1750883970.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:30.187Z,1750883970.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 433.290955 m,
      bearing: 245.289422 deg,
      approach rate: -0.672921 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.286983 deg,
      new cmd heading: 245.289422 deg.

2025-06-25T20:39:30.194Z,1750883970.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281108 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:30.290Z,1750883970.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500664
2025-06-25T20:39:30.541Z,1750883970.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751682
2025-06-25T20:39:30.575Z,1750883970.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:30.580Z,1750883970.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 432.992737 m,
      bearing: 245.291825 deg,
      approach rate: -0.704835 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.289414 deg,
      new cmd heading: 245.291825 deg.

2025-06-25T20:39:30.582Z,1750883970.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281150 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:30.793Z,1750883970.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003686
2025-06-25T20:39:30.956Z,1750883970.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:30.958Z,1750883970.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 432.734467 m,
      bearing: 245.293943 deg,
      approach rate: -0.708061 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.291819 deg,
      new cmd heading: 245.293943 deg.

2025-06-25T20:39:30.959Z,1750883970.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281187 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:31.045Z,1750883971.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255746
2025-06-25T20:39:31.297Z,1750883971.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507633
2025-06-25T20:39:31.372Z,1750883971.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:31.375Z,1750883971.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 432.437897 m,
      bearing: 245.296193 deg,
      approach rate: -0.686177 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.293950 deg,
      new cmd heading: 245.296193 deg.

2025-06-25T20:39:31.375Z,1750883971.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281226 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:31.549Z,1750883971.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759904
2025-06-25T20:39:31.758Z,1750883971.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:31.760Z,1750883971.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:31.763Z,1750883971.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 432.171997 m,
      bearing: 245.298252 deg,
      approach rate: -0.685450 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.296190 deg,
      new cmd heading: 245.298252 deg.

2025-06-25T20:39:31.763Z,1750883971.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281262 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:31.802Z,1750883971.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012387
2025-06-25T20:39:32.053Z,1750883972.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263622
2025-06-25T20:39:32.239Z,1750883972.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:32.246Z,1750883972.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 431.893280 m,
      bearing: 245.300403 deg,
      approach rate: -0.581987 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.298239 deg,
      new cmd heading: 245.300403 deg.

2025-06-25T20:39:32.247Z,1750883972.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281300 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:32.306Z,1750883972.306 [DAT](INFO): DAT read: Rx Time:20:39:33.0637

2025-06-25T20:39:32.307Z,1750883972.307 [DAT](INFO): Rx dataTimestamp_ set to:1750883972.306582
2025-06-25T20:39:32.308Z,1750883972.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518746
2025-06-25T20:39:32.553Z,1750883972.553 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 139.74, 134.32, 161.45
2025-06-25T20:39:32.557Z,1750883972.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767783
2025-06-25T20:39:32.569Z,1750883972.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:32.572Z,1750883972.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 431.616577 m,
      bearing: 245.302483 deg,
      approach rate: -0.837248 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.300397 deg,
      new cmd heading: 245.302483 deg.

2025-06-25T20:39:32.573Z,1750883972.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281336 target range: 1002.611389 and range: 508.60 m.
2025-06-25T20:39:32.821Z,1750883972.821 [DAT](INFO): DAT read: 20:39:33.0637 LVL= 21888, 24049, 17698, 24307, AGC= 73, IDX= 406,-0.05, 2.968, 1.789,-3.052, 2.530, PHS= 0.527,-0.694, 0.699, RAW= 156.5,  -8.1, CAL= 161.4, -15.6, ROT= 348.6,  15.6

2025-06-25T20:39:32.823Z,1750883972.823 [DAT](INFO): got valid direction response:
 20:39:33.0637 LVL= 21888, 24049, 17698, 24307, AGC= 73, IDX= 406,-0.05, 2.968, 1.789,-3.052, 2.530, PHS= 0.527,-0.694, 0.699, RAW= 156.5,  -8.1, CAL= 161.4, -15.6, ROT= 348.6,  15.6

2025-06-25T20:39:32.825Z,1750883972.825 [DAT](INFO): DAT read: Bearing 348.6,  15.6 (Local)

2025-06-25T20:39:32.825Z,1750883972.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.6,  15.6 (Local)

2025-06-25T20:39:32.836Z,1750883972.836 [DAT](INFO): DAT read: Range 10 to 50 : 505.8 m  (Round-trip  674.4 ms) speed  0.4 m/s

2025-06-25T20:39:32.837Z,1750883972.837 [DAT](INFO): DAT read: user:564>

2025-06-25T20:39:32.838Z,1750883972.838 [DAT](INFO): DAT read: Tx time:20:39:34.1852

2025-06-25T20:39:32.839Z,1750883972.839 [DAT](INFO): Ping request sent.
2025-06-25T20:39:32.839Z,1750883972.839 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:32.839Z,1750883972.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:32.845Z,1750883972.845 [DAT](INFO): direction in FSK: [0.944161,-0.190376,-0.268920]
2025-06-25T20:39:32.845Z,1750883972.845 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:32.845Z,1750883972.845 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:32.852Z,1750883972.852 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:32.853Z,1750883972.853 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:32.992Z,1750883972.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 505.799988 m,
      deltaT: 4.033636 s,
      deltaX: -2.800018 m,
      approachRate: -0.694167 m/s,
      rangeRepo size: 4

2025-06-25T20:39:32.992Z,1750883972.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:32.995Z,1750883972.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 431.343201 m,
      bearing: 245.304487 deg,
      approach rate: -0.654700 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.302474 deg,
      new cmd heading: 245.304487 deg.

2025-06-25T20:39:33.000Z,1750883973.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281371 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:33.062Z,1750883973.062 [DAT](INFO): DAT read: TxSync time:20:39:34.1844

2025-06-25T20:39:33.411Z,1750883973.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:33.414Z,1750883973.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 431.053986 m,
      bearing: 245.305051 deg,
      approach rate: -0.681502 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.304496 deg,
      new cmd heading: 245.305051 deg.

2025-06-25T20:39:33.415Z,1750883973.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281381 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:33.782Z,1750883973.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:33.785Z,1750883973.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:33.787Z,1750883973.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 430.818573 m,
      bearing: 245.305516 deg,
      approach rate: -0.630633 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.305042 deg,
      new cmd heading: 245.305516 deg.

2025-06-25T20:39:33.788Z,1750883973.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281389 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:33.821Z,1750883973.821 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:33.822Z,1750883973.822 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:33.822Z,1750883973.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:34.073Z,1750883974.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233992
2025-06-25T20:39:34.174Z,1750883974.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:34.181Z,1750883974.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 430.556305 m,
      bearing: 245.306051 deg,
      approach rate: -0.673211 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.305506 deg,
      new cmd heading: 245.306051 deg.

2025-06-25T20:39:34.182Z,1750883974.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281398 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:34.325Z,1750883974.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486061
2025-06-25T20:39:34.577Z,1750883974.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738045
2025-06-25T20:39:34.607Z,1750883974.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:34.610Z,1750883974.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 430.275330 m,
      bearing: 245.307070 deg,
      approach rate: -0.649028 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.306053 deg,
      new cmd heading: 245.307070 deg.

2025-06-25T20:39:34.611Z,1750883974.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281416 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:34.830Z,1750883974.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991415
2025-06-25T20:39:34.982Z,1750883974.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:34.985Z,1750883974.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 430.031494 m,
      bearing: 245.307918 deg,
      approach rate: -0.649634 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.307064 deg,
      new cmd heading: 245.307918 deg.

2025-06-25T20:39:34.986Z,1750883974.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281431 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:35.082Z,1750883975.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242855
2025-06-25T20:39:35.333Z,1750883975.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493998
2025-06-25T20:39:35.435Z,1750883975.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:35.442Z,1750883975.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 429.743530 m,
      bearing: 245.307803 deg,
      approach rate: -0.635749 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.307911 deg,
      new cmd heading: 245.307803 deg.

2025-06-25T20:39:35.443Z,1750883975.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281429 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:35.585Z,1750883975.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746024
2025-06-25T20:39:35.798Z,1750883975.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:35.800Z,1750883975.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:35.803Z,1750883975.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 429.507050 m,
      bearing: 245.307660 deg,
      approach rate: -0.647713 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.307801 deg,
      new cmd heading: 245.307660 deg.

2025-06-25T20:39:35.804Z,1750883975.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281426 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:35.837Z,1750883975.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998270
2025-06-25T20:39:36.089Z,1750883976.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250162
2025-06-25T20:39:36.262Z,1750883976.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:36.286Z,1750883976.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 429.246399 m,
      bearing: 245.307469 deg,
      approach rate: -0.572715 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.307665 deg,
      new cmd heading: 245.307469 deg.

2025-06-25T20:39:36.293Z,1750883976.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281423 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:36.341Z,1750883976.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502500
2025-06-25T20:39:36.593Z,1750883976.593 [DAT](INFO): DAT read: Rx Time:20:39:37.2598

2025-06-25T20:39:36.593Z,1750883976.593 [DAT](INFO): Rx dataTimestamp_ set to:1750883976.593104
2025-06-25T20:39:36.594Z,1750883976.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755136
2025-06-25T20:39:36.625Z,1750883976.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:36.627Z,1750883976.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 428.975708 m,
      bearing: 245.307023 deg,
      approach rate: -0.733343 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.307473 deg,
      new cmd heading: 245.307023 deg.

2025-06-25T20:39:36.628Z,1750883976.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281415 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:36.845Z,1750883976.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006062
2025-06-25T20:39:37.034Z,1750883977.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 1002.61 m.
2025-06-25T20:39:37.037Z,1750883977.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 1002.611389 m,
      nav range: 428.711029 m,
      bearing: 245.306589 deg,
      approach rate: -0.646034 m/s,
      LOS rate: nan deg/s,
      cmd heading: 245.307009 deg,
      new cmd heading: 245.306589 deg.

2025-06-25T20:39:37.038Z,1750883977.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281408 target range: 1002.611389 and range: 505.80 m.
2025-06-25T20:39:37.103Z,1750883977.103 [DAT](INFO): DAT read: 20:39:37.2598 LVL= 17712, 19153, 14114, 21571, AGC= 75, IDX= 397,-0.28, 1.476, 0.305, 1.788, 1.049, PHS= 0.515,-0.696, 0.736, RAW= 158.2,  -8.4, CAL= 163.0, -15.6, ROT= 347.0,  15.6

2025-06-25T20:39:37.109Z,1750883977.109 [DAT](INFO): got valid direction response:
 20:39:37.2598 LVL= 17712, 19153, 14114, 21571, AGC= 75, IDX= 397,-0.28, 1.476, 0.305, 1.788, 1.049, PHS= 0.515,-0.696, 0.736, RAW= 158.2,  -8.4, CAL= 163.0, -15.6, ROT= 347.0,  15.6

2025-06-25T20:39:37.110Z,1750883977.110 [DAT](INFO): DAT read: Bearing 347.0,  15.6 (Local)

2025-06-25T20:39:37.110Z,1750883977.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,  15.6 (Local)

2025-06-25T20:39:37.134Z,1750883977.134 [DAT](INFO): DAT read: Range 10 to 50 : 502.8 m  (Round-trip  670.4 ms) speed  0.5 m/s

2025-06-25T20:39:37.134Z,1750883977.134 [DAT](INFO): DAT read: user:565>

2025-06-25T20:39:37.135Z,1750883977.135 [DAT](INFO): DAT read: Tx time:20:39:38.3353

2025-06-25T20:39:37.135Z,1750883977.135 [DAT](INFO): Ping request sent.
2025-06-25T20:39:37.140Z,1750883977.140 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:37.141Z,1750883977.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:37.142Z,1750883977.142 [DAT](INFO): direction in FSK: [0.938477,-0.216664,-0.268920]
2025-06-25T20:39:37.142Z,1750883977.142 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:37.142Z,1750883977.142 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:37.150Z,1750883977.150 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:37.150Z,1750883977.150 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:37.350Z,1750883977.350 [DAT](INFO): DAT read: TxSync time:20:39:38.3345

2025-06-25T20:39:37.477Z,1750883977.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 502.799988 m,
      deltaT: 4.286528 s,
      deltaX: -3.000000 m,
      approachRate: -0.699867 m/s,
      rangeRepo size: 4

2025-06-25T20:39:37.479Z,1750883977.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 497.983612 m,
      bearing: 233.696361 deg,
      lat: 36.906050 deg,
      lon: -122.116171 deg,
      deltaT: 749.791856 s,
      deltaX: -504.627777 m,
      approachRate: -0.673024 m/s,
      posRepo size: 2

2025-06-25T20:39:37.487Z,1750883977.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:37.493Z,1750883977.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 233.696361 deg.
2025-06-25T20:39:37.494Z,1750883977.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078771 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:37.818Z,1750883977.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:37.820Z,1750883977.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:37.823Z,1750883977.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 494.657135 m,
      bearing: 233.692351 deg,
      approach rate: -0.661287 m/s,
      LOS rate: -0.016767 deg/s,
      cmd heading: 233.696370 deg,
      new cmd heading: 233.678877 deg.

2025-06-25T20:39:37.824Z,1750883977.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078466 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:37.853Z,1750883977.853 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:37.853Z,1750883977.853 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:37.854Z,1750883977.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:38.105Z,1750883978.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969117
2025-06-25T20:39:38.220Z,1750883978.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:38.223Z,1750883978.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 494.404388 m,
      bearing: 233.685968 deg,
      approach rate: -0.631882 m/s,
      LOS rate: -0.015968 deg/s,
      cmd heading: 233.678885 deg,
      new cmd heading: 233.659724 deg.

2025-06-25T20:39:38.223Z,1750883978.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078132 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:38.357Z,1750883978.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221278
2025-06-25T20:39:38.609Z,1750883978.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473166
2025-06-25T20:39:38.678Z,1750883978.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:38.681Z,1750883978.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 494.111908 m,
      bearing: 233.679061 deg,
      approach rate: -0.637571 m/s,
      LOS rate: -0.015065 deg/s,
      cmd heading: 233.659733 deg,
      new cmd heading: 233.639000 deg.

2025-06-25T20:39:38.682Z,1750883978.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077770 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:38.861Z,1750883978.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725228
2025-06-25T20:39:39.084Z,1750883979.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:39.087Z,1750883979.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 493.845032 m,
      bearing: 233.672803 deg,
      approach rate: -0.658049 m/s,
      LOS rate: -0.015438 deg/s,
      cmd heading: 233.638997 deg,
      new cmd heading: 233.620214 deg.

2025-06-25T20:39:39.088Z,1750883979.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077442 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:39.139Z,1750883979.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003628
2025-06-25T20:39:39.389Z,1750883979.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253133
2025-06-25T20:39:39.501Z,1750883979.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:39.510Z,1750883979.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 493.573242 m,
      bearing: 233.667295 deg,
      approach rate: -0.651227 m/s,
      LOS rate: -0.013206 deg/s,
      cmd heading: 233.620200 deg,
      new cmd heading: 233.603666 deg.

2025-06-25T20:39:39.511Z,1750883979.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077153 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:39.641Z,1750883979.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505548
2025-06-25T20:39:39.863Z,1750883979.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:39.866Z,1750883979.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:39.869Z,1750883979.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 493.331543 m,
      bearing: 233.662443 deg,
      approach rate: -0.663311 m/s,
      LOS rate: -0.013321 deg/s,
      cmd heading: 233.603671 deg,
      new cmd heading: 233.589109 deg.

2025-06-25T20:39:39.870Z,1750883979.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076899 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:39.893Z,1750883979.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757247
2025-06-25T20:39:40.145Z,1750883980.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009126
2025-06-25T20:39:40.365Z,1750883980.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:40.367Z,1750883980.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 492.994507 m,
      bearing: 233.655835 deg,
      approach rate: -0.676739 m/s,
      LOS rate: -0.013278 deg/s,
      cmd heading: 233.589109 deg,
      new cmd heading: 233.569270 deg.

2025-06-25T20:39:40.368Z,1750883980.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076553 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:40.397Z,1750883980.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261446
2025-06-25T20:39:40.649Z,1750883980.649 [DAT](INFO): DAT read: Rx Time:20:39:41.4063

2025-06-25T20:39:40.650Z,1750883980.650 [DAT](INFO): Rx dataTimestamp_ set to:1750883980.649565
2025-06-25T20:39:40.651Z,1750883980.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514979
2025-06-25T20:39:40.757Z,1750883980.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:40.762Z,1750883980.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 492.750549 m,
      bearing: 233.651658 deg,
      approach rate: -0.621168 m/s,
      LOS rate: -0.010641 deg/s,
      cmd heading: 233.569274 deg,
      new cmd heading: 233.556737 deg.

2025-06-25T20:39:40.763Z,1750883980.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076334 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:40.905Z,1750883980.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769236
2025-06-25T20:39:41.080Z,1750883981.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.98 m.
2025-06-25T20:39:41.083Z,1750883981.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.983612 m,
      nav range: 492.521667 m,
      bearing: 233.647999 deg,
      approach rate: -0.708154 m/s,
      LOS rate: -0.011325 deg/s,
      cmd heading: 233.556734 deg,
      new cmd heading: 233.545753 deg.

2025-06-25T20:39:41.086Z,1750883981.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076142 target range: 497.983612 and range: 502.80 m.
2025-06-25T20:39:41.166Z,1750883981.166 [DAT](INFO): DAT read: 20:39:41.4063 LVL= 18704, 26353, 21026, 30243, AGC= 71, IDX= 409,-0.19,-2.947, 2.157,-2.606, 2.891, PHS= 0.534,-0.687, 0.783, RAW= 159.1,  -9.3, CAL= 164.0, -16.3, ROT= 346.0,  16.3

2025-06-25T20:39:41.167Z,1750883981.167 [DAT](INFO): got valid direction response:
 20:39:41.4063 LVL= 18704, 26353, 21026, 30243, AGC= 71, IDX= 409,-0.19,-2.947, 2.157,-2.606, 2.891, PHS= 0.534,-0.687, 0.783, RAW= 159.1,  -9.3, CAL= 164.0, -16.3, ROT= 346.0,  16.3

2025-06-25T20:39:41.169Z,1750883981.169 [DAT](INFO): DAT read: Bearing 346.0,  16.3 (Local)

2025-06-25T20:39:41.169Z,1750883981.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  16.3 (Local)

2025-06-25T20:39:41.171Z,1750883981.171 [DAT](INFO): DAT read: Range 10 to 50 : 500.1 m  (Round-trip  666.8 ms) speed  0.7 m/s

2025-06-25T20:39:41.172Z,1750883981.172 [DAT](INFO): DAT read: user:566>

2025-06-25T20:39:41.172Z,1750883981.172 [DAT](INFO): DAT read: Tx time:20:39:42.5353

2025-06-25T20:39:41.173Z,1750883981.173 [DAT](INFO): Ping request sent.
2025-06-25T20:39:41.173Z,1750883981.173 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:41.173Z,1750883981.173 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:41.174Z,1750883981.174 [DAT](INFO): direction in FSK: [0.931295,-0.232198,-0.280667]
2025-06-25T20:39:41.174Z,1750883981.174 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:41.175Z,1750883981.175 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:41.178Z,1750883981.178 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:41.178Z,1750883981.178 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:41.410Z,1750883981.410 [DAT](INFO): DAT read: TxSync time:20:39:42.5345

2025-06-25T20:39:41.532Z,1750883981.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 500.100006 m,
      deltaT: 4.059934 s,
      deltaX: -2.699982 m,
      approachRate: -0.665031 m/s,
      rangeRepo size: 4

2025-06-25T20:39:41.534Z,1750883981.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 495.311615 m,
      bearing: 230.693693 deg,
      lat: 36.906012 deg,
      lon: -122.116139 deg,
      deltaT: 4.059934 s,
      deltaX: -2.671997 m,
      approachRate: -0.658138 m/s,
      posRepo size: 3

2025-06-25T20:39:41.535Z,1750883981.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:41.537Z,1750883981.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 492.410034 m,
      bearing: 233.046813 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011325 deg/s,
      cmd heading: 233.545751 deg,
      new cmd heading: 233.530417 deg.

2025-06-25T20:39:41.538Z,1750883981.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075875 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:41.871Z,1750883981.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:41.873Z,1750883981.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:41.879Z,1750883981.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 492.168915 m,
      bearing: 233.044278 deg,
      approach rate: -0.704760 m/s,
      LOS rate: -0.007414 deg/s,
      cmd heading: 233.530424 deg,
      new cmd heading: 233.522814 deg.

2025-06-25T20:39:41.881Z,1750883981.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075742 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:41.913Z,1750883981.913 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:41.913Z,1750883981.913 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:41.913Z,1750883981.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:42.165Z,1750883982.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992240
2025-06-25T20:39:42.260Z,1750883982.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:42.263Z,1750883982.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 491.900116 m,
      bearing: 233.041921 deg,
      approach rate: -0.695516 m/s,
      LOS rate: -0.006101 deg/s,
      cmd heading: 233.522802 deg,
      new cmd heading: 233.515728 deg.

2025-06-25T20:39:42.280Z,1750883982.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075618 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:42.417Z,1750883982.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244090
2025-06-25T20:39:42.669Z,1750883982.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496367
2025-06-25T20:39:42.694Z,1750883982.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:42.717Z,1750883982.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 491.600952 m,
      bearing: 233.040653 deg,
      approach rate: -0.688918 m/s,
      LOS rate: -0.002922 deg/s,
      cmd heading: 233.515726 deg,
      new cmd heading: 233.511919 deg.

2025-06-25T20:39:42.718Z,1750883982.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075552 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:42.921Z,1750883982.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747927
2025-06-25T20:39:43.056Z,1750883983.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:39:43.093Z,1750883983.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:43.100Z,1750883983.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 491.339325 m,
      bearing: 233.039997 deg,
      approach rate: -0.654772 m/s,
      LOS rate: -0.001642 deg/s,
      cmd heading: 233.511928 deg,
      new cmd heading: 233.509959 deg.

2025-06-25T20:39:43.101Z,1750883983.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075518 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:43.173Z,1750883983.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000085
2025-06-25T20:39:43.425Z,1750883983.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251982
2025-06-25T20:39:43.504Z,1750883983.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:43.506Z,1750883983.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 491.047455 m,
      bearing: 233.039722 deg,
      approach rate: -0.711842 m/s,
      LOS rate: -0.000671 deg/s,
      cmd heading: 233.509961 deg,
      new cmd heading: 233.509135 deg.

2025-06-25T20:39:43.507Z,1750883983.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075503 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:43.677Z,1750883983.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504103
2025-06-25T20:39:43.886Z,1750883983.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:43.888Z,1750883983.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:43.891Z,1750883983.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 490.786591 m,
      bearing: 233.039922 deg,
      approach rate: -0.678347 m/s,
      LOS rate: 0.000520 deg/s,
      cmd heading: 233.509141 deg,
      new cmd heading: 233.509741 deg.

2025-06-25T20:39:43.893Z,1750883983.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075514 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:43.929Z,1750883983.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756442
2025-06-25T20:39:44.060Z,1750883984.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:39:44.181Z,1750883984.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007929
2025-06-25T20:39:44.290Z,1750883984.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:44.293Z,1750883984.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 490.513733 m,
      bearing: 233.040565 deg,
      approach rate: -0.679232 m/s,
      LOS rate: 0.001602 deg/s,
      cmd heading: 233.509742 deg,
      new cmd heading: 233.511673 deg.

2025-06-25T20:39:44.294Z,1750883984.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075548 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:44.433Z,1750883984.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260252
2025-06-25T20:39:44.685Z,1750883984.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512060
2025-06-25T20:39:44.729Z,1750883984.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:44.736Z,1750883984.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 490.235535 m,
      bearing: 233.041494 deg,
      approach rate: -0.632989 m/s,
      LOS rate: 0.002116 deg/s,
      cmd heading: 233.511682 deg,
      new cmd heading: 233.514472 deg.

2025-06-25T20:39:44.737Z,1750883984.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075596 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:44.937Z,1750883984.937 [DAT](INFO): DAT read: Rx Time:20:39:45.6026

2025-06-25T20:39:44.937Z,1750883984.937 [DAT](INFO): Rx dataTimestamp_ set to:1750883984.937001
2025-06-25T20:39:44.938Z,1750883984.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765022
2025-06-25T20:39:45.098Z,1750883985.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.31 m.
2025-06-25T20:39:45.101Z,1750883985.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.311615 m,
      nav range: 489.978271 m,
      bearing: 233.042706 deg,
      approach rate: -0.698424 m/s,
      LOS rate: 0.003291 deg/s,
      cmd heading: 233.514469 deg,
      new cmd heading: 233.518106 deg.

2025-06-25T20:39:45.101Z,1750883985.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075660 target range: 495.311615 and range: 500.10 m.
2025-06-25T20:39:45.190Z,1750883985.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016607
2025-06-25T20:39:45.454Z,1750883985.454 [DAT](INFO): DAT read: 20:39:45.6026 LVL= 18128, 20353, 17810, 27107, AGC= 74, IDX= 403, 0.00, 1.847, 0.278, 1.693, 1.104, PHS= 0.831,-0.780, 0.586, RAW= 141.9,  -8.5, CAL= 148.4, -18.0, ROT=   1.6,  18.0

2025-06-25T20:39:45.455Z,1750883985.455 [DAT](INFO): got valid direction response:
 20:39:45.6026 LVL= 18128, 20353, 17810, 27107, AGC= 74, IDX= 403, 0.00, 1.847, 0.278, 1.693, 1.104, PHS= 0.831,-0.780, 0.586, RAW= 141.9,  -8.5, CAL= 148.4, -18.0, ROT=   1.6,  18.0

2025-06-25T20:39:45.476Z,1750883985.476 [DAT](INFO): DAT read: Bearing   1.6,  18.0 (Local)

2025-06-25T20:39:45.477Z,1750883985.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  18.0 (Local)

2025-06-25T20:39:45.478Z,1750883985.478 [DAT](INFO): DAT read: Range 10 to 50 : 497.3 m  (Round-trip  663.1 ms) speed  0.5 m/s

2025-06-25T20:39:45.479Z,1750883985.479 [DAT](INFO): DAT read: user:567>

2025-06-25T20:39:45.480Z,1750883985.480 [DAT](INFO): DAT read: Tx time:20:39:46.6853

2025-06-25T20:39:45.480Z,1750883985.480 [DAT](INFO): Ping request sent.
2025-06-25T20:39:45.480Z,1750883985.480 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:45.480Z,1750883985.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:45.481Z,1750883985.481 [DAT](INFO): direction in FSK: [0.950686,0.026555,-0.309017]
2025-06-25T20:39:45.482Z,1750883985.482 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:45.482Z,1750883985.482 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:45.501Z,1750883985.501 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:45.501Z,1750883985.501 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:45.614Z,1750883985.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 497.299988 m,
      deltaT: 4.285546 s,
      deltaX: -2.800018 m,
      approachRate: -0.653363 m/s,
      rangeRepo size: 4

2025-06-25T20:39:45.620Z,1750883985.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 492.545319 m,
      bearing: 235.553540 deg,
      lat: 36.906050 deg,
      lon: -122.116171 deg,
      deltaT: 4.285546 s,
      deltaX: -2.766296 m,
      approachRate: -0.645495 m/s,
      posRepo size: 4

2025-06-25T20:39:45.621Z,1750883985.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:45.623Z,1750883985.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 489.446960 m,
      bearing: 233.644448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003291 deg/s,
      cmd heading: 233.518103 deg,
      new cmd heading: 233.523192 deg.

2025-06-25T20:39:45.628Z,1750883985.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075748 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:45.694Z,1750883985.694 [DAT](INFO): DAT read: TxSync time:20:39:46.6845

2025-06-25T20:39:45.926Z,1750883985.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:45.928Z,1750883985.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:45.931Z,1750883985.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 489.220062 m,
      bearing: 233.646224 deg,
      approach rate: -0.719553 m/s,
      LOS rate: 0.005633 deg/s,
      cmd heading: 233.523184 deg,
      new cmd heading: 233.528513 deg.

2025-06-25T20:39:45.932Z,1750883985.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075841 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:45.945Z,1750883985.945 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:45.945Z,1750883985.945 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:45.945Z,1750883985.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:46.197Z,1750883986.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.716819
2025-06-25T20:39:46.330Z,1750883986.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:46.333Z,1750883986.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 488.954865 m,
      bearing: 233.648623 deg,
      approach rate: -0.660656 m/s,
      LOS rate: 0.005979 deg/s,
      cmd heading: 233.528512 deg,
      new cmd heading: 233.535712 deg.

2025-06-25T20:39:46.334Z,1750883986.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075967 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:46.449Z,1750883986.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969372
2025-06-25T20:39:46.701Z,1750883986.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220741
2025-06-25T20:39:46.758Z,1750883986.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:46.761Z,1750883986.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 488.678253 m,
      bearing: 233.650745 deg,
      approach rate: -0.646374 m/s,
      LOS rate: 0.004961 deg/s,
      cmd heading: 233.535724 deg,
      new cmd heading: 233.542093 deg.

2025-06-25T20:39:46.762Z,1750883986.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076078 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:46.954Z,1750883986.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473791
2025-06-25T20:39:47.130Z,1750883987.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:47.132Z,1750883987.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 488.437805 m,
      bearing: 233.652716 deg,
      approach rate: -0.646539 m/s,
      LOS rate: 0.005305 deg/s,
      cmd heading: 233.542090 deg,
      new cmd heading: 233.548009 deg.

2025-06-25T20:39:47.133Z,1750883987.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076182 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:47.206Z,1750883987.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725475
2025-06-25T20:39:47.459Z,1750883987.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978503
2025-06-25T20:39:47.565Z,1750883987.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:47.568Z,1750883987.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 488.162689 m,
      bearing: 233.654192 deg,
      approach rate: -0.631665 m/s,
      LOS rate: 0.003390 deg/s,
      cmd heading: 233.548019 deg,
      new cmd heading: 233.552448 deg.

2025-06-25T20:39:47.569Z,1750883987.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076259 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:47.709Z,1750883987.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228663
2025-06-25T20:39:47.957Z,1750883987.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:47.959Z,1750883987.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:47.961Z,1750883987.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480735
2025-06-25T20:39:47.964Z,1750883987.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 487.913025 m,
      bearing: 233.655531 deg,
      approach rate: -0.633270 m/s,
      LOS rate: 0.003397 deg/s,
      cmd heading: 233.552445 deg,
      new cmd heading: 233.556463 deg.

2025-06-25T20:39:47.965Z,1750883987.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076329 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:48.213Z,1750883988.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732815
2025-06-25T20:39:48.343Z,1750883988.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:48.346Z,1750883988.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 487.669830 m,
      bearing: 233.656822 deg,
      approach rate: -0.634127 m/s,
      LOS rate: 0.003368 deg/s,
      cmd heading: 233.556461 deg,
      new cmd heading: 233.560336 deg.

2025-06-25T20:39:48.347Z,1750883988.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076397 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:48.468Z,1750883988.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987416
2025-06-25T20:39:48.717Z,1750883988.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236625
2025-06-25T20:39:48.798Z,1750883988.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:48.805Z,1750883988.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 487.387665 m,
      bearing: 233.657999 deg,
      approach rate: -0.620494 m/s,
      LOS rate: 0.002591 deg/s,
      cmd heading: 233.560340 deg,
      new cmd heading: 233.563874 deg.

2025-06-25T20:39:48.806Z,1750883988.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076458 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:48.969Z,1750883988.969 [DAT](INFO): DAT read: Rx Time:20:39:49.7488

2025-06-25T20:39:48.969Z,1750883988.969 [DAT](INFO): Rx dataTimestamp_ set to:1750883988.968997
2025-06-25T20:39:48.970Z,1750883988.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489718
2025-06-25T20:39:49.156Z,1750883989.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.55 m.
2025-06-25T20:39:49.159Z,1750883989.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.545319 m,
      nav range: 487.147278 m,
      bearing: 233.659015 deg,
      approach rate: -0.671389 m/s,
      LOS rate: 0.002839 deg/s,
      cmd heading: 233.563865 deg,
      new cmd heading: 233.566914 deg.

2025-06-25T20:39:49.159Z,1750883989.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076512 target range: 492.545319 and range: 497.30 m.
2025-06-25T20:39:49.221Z,1750883989.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740629
2025-06-25T20:39:49.511Z,1750883989.511 [DAT](INFO): DAT read: 20:39:49.7488 LVL= 14736, 18017, 15778, 18371, AGC= 73, IDX= 395, 0.47,-1.734, 2.851,-2.019,-2.466, PHS= 0.820,-0.919, 0.445, RAW= 138.1,  -4.4, CAL= 143.7, -14.1, ROT=   6.3,  14.1

2025-06-25T20:39:49.512Z,1750883989.512 [DAT](INFO): got valid direction response:
 20:39:49.7488 LVL= 14736, 18017, 15778, 18371, AGC= 73, IDX= 395, 0.47,-1.734, 2.851,-2.019,-2.466, PHS= 0.820,-0.919, 0.445, RAW= 138.1,  -4.4, CAL= 143.7, -14.1, ROT=   6.3,  14.1

2025-06-25T20:39:49.513Z,1750883989.513 [DAT](INFO): DAT read: Bearing   6.3,  14.1 (Local)

2025-06-25T20:39:49.513Z,1750883989.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  14.1 (Local)

2025-06-25T20:39:49.515Z,1750883989.515 [DAT](INFO): DAT read: Range 10 to 50 : 494.4 m  (Round-trip  659.3 ms) speed  0.6 m/s

2025-06-25T20:39:49.515Z,1750883989.515 [DAT](INFO): DAT read: user:568>

2025-06-25T20:39:49.516Z,1750883989.516 [DAT](INFO): DAT read: Tx time:20:39:50.8353

2025-06-25T20:39:49.517Z,1750883989.517 [DAT](INFO): Ping request sent.
2025-06-25T20:39:49.517Z,1750883989.517 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:49.517Z,1750883989.517 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:49.518Z,1750883989.518 [DAT](INFO): direction in FSK: [0.964015,0.106428,-0.243615]
2025-06-25T20:39:49.518Z,1750883989.518 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:49.518Z,1750883989.518 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:49.534Z,1750883989.534 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:49.534Z,1750883989.534 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:49.667Z,1750883989.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 494.399994 m,
      deltaT: 4.032514 s,
      deltaX: -2.899994 m,
      approachRate: -0.719153 m/s,
      rangeRepo size: 4

2025-06-25T20:39:49.674Z,1750883989.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 489.675232 m,
      bearing: 239.041358 deg,
      lat: 36.906127 deg,
      lon: -122.116242 deg,
      deltaT: 4.032514 s,
      deltaX: -2.870087 m,
      approachRate: -0.711736 m/s,
      posRepo size: 4

2025-06-25T20:39:49.674Z,1750883989.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:49.681Z,1750883989.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 486.978241 m,
      bearing: 234.912409 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002839 deg/s,
      cmd heading: 233.566925 deg,
      new cmd heading: 233.571267 deg.

2025-06-25T20:39:49.682Z,1750883989.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076588 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:49.728Z,1750883989.728 [DAT](INFO): DAT read: TxSync time:20:39:50.8345

2025-06-25T20:39:49.965Z,1750883989.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:49.967Z,1750883989.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:49.969Z,1750883989.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 486.762604 m,
      bearing: 234.913784 deg,
      approach rate: -0.716398 m/s,
      LOS rate: 0.004571 deg/s,
      cmd heading: 233.571269 deg,
      new cmd heading: 233.575396 deg.

2025-06-25T20:39:49.970Z,1750883989.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076660 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:49.977Z,1750883989.977 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:49.977Z,1750883989.977 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:49.977Z,1750883989.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:50.229Z,1750883990.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.712044
2025-06-25T20:39:50.364Z,1750883990.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:50.367Z,1750883990.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 486.508270 m,
      bearing: 234.915439 deg,
      approach rate: -0.640190 m/s,
      LOS rate: 0.004167 deg/s,
      cmd heading: 233.575394 deg,
      new cmd heading: 233.580361 deg.

2025-06-25T20:39:50.368Z,1750883990.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076746 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:50.485Z,1750883990.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968110
2025-06-25T20:39:50.733Z,1750883990.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216122
2025-06-25T20:39:50.796Z,1750883990.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:50.799Z,1750883990.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 486.224152 m,
      bearing: 234.916514 deg,
      approach rate: -0.656846 m/s,
      LOS rate: 0.002488 deg/s,
      cmd heading: 233.580367 deg,
      new cmd heading: 233.583595 deg.

2025-06-25T20:39:50.801Z,1750883990.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076803 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:50.987Z,1750883990.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470844
2025-06-25T20:39:51.237Z,1750883991.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720235
2025-06-25T20:39:51.248Z,1750883991.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:51.251Z,1750883991.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 485.942932 m,
      bearing: 234.917603 deg,
      approach rate: -0.622642 m/s,
      LOS rate: 0.002412 deg/s,
      cmd heading: 233.583590 deg,
      new cmd heading: 233.586859 deg.

2025-06-25T20:39:51.252Z,1750883991.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076860 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:51.492Z,1750883991.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974412
2025-06-25T20:39:51.730Z,1750883991.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:51.738Z,1750883991.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 485.612976 m,
      bearing: 234.919446 deg,
      approach rate: -0.684630 m/s,
      LOS rate: 0.003825 deg/s,
      cmd heading: 233.586869 deg,
      new cmd heading: 233.592399 deg.

2025-06-25T20:39:51.739Z,1750883991.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076956 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:51.741Z,1750883991.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224247
2025-06-25T20:39:51.996Z,1750883991.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479512
2025-06-25T20:39:52.095Z,1750883992.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:52.098Z,1750883992.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:52.101Z,1750883992.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 485.367981 m,
      bearing: 234.920801 deg,
      approach rate: -0.666387 m/s,
      LOS rate: 0.003688 deg/s,
      cmd heading: 233.592388 deg,
      new cmd heading: 233.596455 deg.

2025-06-25T20:39:52.101Z,1750883992.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077027 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:52.245Z,1750883992.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728207
2025-06-25T20:39:52.500Z,1750883992.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982582
2025-06-25T20:39:52.661Z,1750883992.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:52.665Z,1750883992.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 484.987457 m,
      bearing: 234.923651 deg,
      approach rate: -0.675688 m/s,
      LOS rate: 0.005065 deg/s,
      cmd heading: 233.596458 deg,
      new cmd heading: 233.605015 deg.

2025-06-25T20:39:52.667Z,1750883992.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077177 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:52.670Z,1750883992.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 54.621914 m.
2025-06-25T20:39:52.749Z,1750883992.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232409
2025-06-25T20:39:53.004Z,1750883993.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487312
2025-06-25T20:39:53.119Z,1750883993.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:53.133Z,1750883993.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 484.687897 m,
      bearing: 234.925848 deg,
      approach rate: -0.654494 m/s,
      LOS rate: 0.004802 deg/s,
      cmd heading: 233.605010 deg,
      new cmd heading: 233.611604 deg.

2025-06-25T20:39:53.134Z,1750883993.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077291 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:53.253Z,1750883993.253 [DAT](INFO): DAT read: Rx Time:20:39:53.8953

2025-06-25T20:39:53.253Z,1750883993.253 [DAT](INFO): Rx dataTimestamp_ set to:1750883993.253120
2025-06-25T20:39:53.254Z,1750883993.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737310
2025-06-25T20:39:53.508Z,1750883993.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.990458
2025-06-25T20:39:53.638Z,1750883993.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.68 m.
2025-06-25T20:39:53.653Z,1750883993.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 489.675232 m,
      nav range: 484.364380 m,
      bearing: 234.928178 deg,
      approach rate: -0.622654 m/s,
      LOS rate: 0.004488 deg/s,
      cmd heading: 233.611594 deg,
      new cmd heading: 233.618590 deg.

2025-06-25T20:39:53.654Z,1750883993.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077414 target range: 489.675232 and range: 494.40 m.
2025-06-25T20:39:53.765Z,1750883993.765 [DAT](INFO): DAT read: 20:39:53.8953 LVL= 22608, 18593, 20802, 24723, AGC= 69, IDX= 408,-0.34,-2.698, 1.893,-2.943, 2.827, PHS= 0.846,-0.887, 0.510, RAW= 139.5,  -5.9, CAL= 145.3, -15.7, ROT=   4.7,  15.7

2025-06-25T20:39:53.766Z,1750883993.766 [DAT](INFO): got valid direction response:
 20:39:53.8953 LVL= 22608, 18593, 20802, 24723, AGC= 69, IDX= 408,-0.34,-2.698, 1.893,-2.943, 2.827, PHS= 0.846,-0.887, 0.510, RAW= 139.5,  -5.9, CAL= 145.3, -15.7, ROT=   4.7,  15.7

2025-06-25T20:39:53.767Z,1750883993.767 [DAT](INFO): DAT read: Bearing   4.7,  15.7 (Local)

2025-06-25T20:39:53.770Z,1750883993.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  15.7 (Local)

2025-06-25T20:39:53.775Z,1750883993.775 [DAT](INFO): DAT read: Range 10 to 50 : 491.8 m  (Round-trip  655.8 ms) speed  0.6 m/s

2025-06-25T20:39:53.775Z,1750883993.775 [DAT](INFO): DAT read: user:569>

2025-06-25T20:39:53.776Z,1750883993.776 [DAT](INFO): DAT read: Tx time:20:39:54.9853

2025-06-25T20:39:53.777Z,1750883993.777 [DAT](INFO): Ping request sent.
2025-06-25T20:39:53.777Z,1750883993.777 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:53.777Z,1750883993.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:53.778Z,1750883993.778 [DAT](INFO): direction in FSK: [0.959455,0.078882,-0.270600]
2025-06-25T20:39:53.778Z,1750883993.778 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:53.779Z,1750883993.779 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:53.782Z,1750883993.782 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:53.782Z,1750883993.782 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:54.009Z,1750883994.009 [DAT](INFO): DAT read: TxSync time:20:39:54.9845

2025-06-25T20:39:54.044Z,1750883994.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 491.799988 m,
      deltaT: 4.282689 s,
      deltaX: -2.600006 m,
      approachRate: -0.607097 m/s,
      rangeRepo size: 4

2025-06-25T20:39:54.046Z,1750883994.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 487.096313 m,
      bearing: 237.974864 deg,
      lat: 36.906177 deg,
      lon: -122.116264 deg,
      deltaT: 4.282689 s,
      deltaX: -2.578918 m,
      approachRate: -0.602173 m/s,
      posRepo size: 4

2025-06-25T20:39:54.047Z,1750883994.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:54.058Z,1750883994.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 482.461761 m,
      bearing: 235.604288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004488 deg/s,
      cmd heading: 233.618588 deg,
      new cmd heading: 233.623990 deg.

2025-06-25T20:39:54.059Z,1750883994.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077508 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:54.359Z,1750883994.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:54.382Z,1750883994.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:54.385Z,1750883994.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 482.233337 m,
      bearing: 235.606962 deg,
      approach rate: -0.667171 m/s,
      LOS rate: 0.007816 deg/s,
      cmd heading: 233.623998 deg,
      new cmd heading: 233.632026 deg.

2025-06-25T20:39:54.385Z,1750883994.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077648 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:54.515Z,1750883994.515 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:54.529Z,1750883994.529 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:54.530Z,1750883994.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:54.765Z,1750883994.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987961
2025-06-25T20:39:54.790Z,1750883994.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:54.793Z,1750883994.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 481.943573 m,
      bearing: 235.611265 deg,
      approach rate: -0.709010 m/s,
      LOS rate: 0.010533 deg/s,
      cmd heading: 233.632030 deg,
      new cmd heading: 233.644944 deg.

2025-06-25T20:39:54.794Z,1750883994.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077874 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:55.017Z,1750883995.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240100
2025-06-25T20:39:55.189Z,1750883995.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:55.191Z,1750883995.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 481.674377 m,
      bearing: 235.615266 deg,
      approach rate: -0.675580 m/s,
      LOS rate: 0.010048 deg/s,
      cmd heading: 233.644953 deg,
      new cmd heading: 233.656965 deg.

2025-06-25T20:39:55.193Z,1750883995.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078084 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:55.269Z,1750883995.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492101
2025-06-25T20:39:55.533Z,1750883995.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755622
2025-06-25T20:39:55.694Z,1750883995.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:55.701Z,1750883995.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 481.346558 m,
      bearing: 235.620814 deg,
      approach rate: -0.648882 m/s,
      LOS rate: 0.010989 deg/s,
      cmd heading: 233.656974 deg,
      new cmd heading: 233.673628 deg.

2025-06-25T20:39:55.702Z,1750883995.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078374 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:55.781Z,1750883995.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003860
2025-06-25T20:39:56.033Z,1750883996.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256033
2025-06-25T20:39:56.043Z,1750883996.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:56.046Z,1750883996.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 481.096100 m,
      bearing: 235.624977 deg,
      approach rate: -0.718049 m/s,
      LOS rate: 0.011942 deg/s,
      cmd heading: 233.673640 deg,
      new cmd heading: 233.686136 deg.

2025-06-25T20:39:56.047Z,1750883996.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078592 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:56.285Z,1750883996.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507892
2025-06-25T20:39:56.458Z,1750883996.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:56.460Z,1750883996.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:56.462Z,1750883996.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 480.806519 m,
      bearing: 235.629682 deg,
      approach rate: -0.694741 m/s,
      LOS rate: 0.011293 deg/s,
      cmd heading: 233.686125 deg,
      new cmd heading: 233.700247 deg.

2025-06-25T20:39:56.463Z,1750883996.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078839 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:56.547Z,1750883996.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770059
2025-06-25T20:39:56.797Z,1750883996.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020246
2025-06-25T20:39:56.911Z,1750883996.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:56.914Z,1750883996.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 480.510559 m,
      bearing: 235.634265 deg,
      approach rate: -0.655642 m/s,
      LOS rate: 0.010159 deg/s,
      cmd heading: 233.700250 deg,
      new cmd heading: 233.714008 deg.

2025-06-25T20:39:56.915Z,1750883996.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079079 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:57.049Z,1750883997.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271910
2025-06-25T20:39:57.264Z,1750883997.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:57.267Z,1750883997.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 480.254425 m,
      bearing: 235.638132 deg,
      approach rate: -0.726166 m/s,
      LOS rate: 0.010970 deg/s,
      cmd heading: 233.714020 deg,
      new cmd heading: 233.725628 deg.

2025-06-25T20:39:57.268Z,1750883997.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079282 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:57.301Z,1750883997.301 [DAT](INFO): DAT read: Rx Time:20:39:58.0416

2025-06-25T20:39:57.302Z,1750883997.302 [DAT](INFO): Rx dataTimestamp_ set to:1750883997.301390
2025-06-25T20:39:57.302Z,1750883997.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525343
2025-06-25T20:39:57.553Z,1750883997.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775972
2025-06-25T20:39:57.738Z,1750883997.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.10 m.
2025-06-25T20:39:57.761Z,1750883997.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.096313 m,
      nav range: 479.957458 m,
      bearing: 235.642082 deg,
      approach rate: -0.636756 m/s,
      LOS rate: 0.008475 deg/s,
      cmd heading: 233.725631 deg,
      new cmd heading: 233.737489 deg.

2025-06-25T20:39:57.767Z,1750883997.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079489 target range: 487.096313 and range: 491.80 m.
2025-06-25T20:39:57.814Z,1750883997.814 [DAT](INFO): DAT read: 20:39:58.0416 LVL= 26192, 22433, 24690, 28531, AGC= 73, IDX= 400, 0.49, 1.269,-0.491, 1.034, 0.551, PHS= 0.806,-0.996, 0.480, RAW= 140.2,  -3.5, CAL= 145.5, -12.9, ROT=   4.5,  12.9

2025-06-25T20:39:57.815Z,1750883997.815 [DAT](INFO): got valid direction response:
 20:39:58.0416 LVL= 26192, 22433, 24690, 28531, AGC= 73, IDX= 400, 0.49, 1.269,-0.491, 1.034, 0.551, PHS= 0.806,-0.996, 0.480, RAW= 140.2,  -3.5, CAL= 145.5, -12.9, ROT=   4.5,  12.9

2025-06-25T20:39:57.816Z,1750883997.816 [DAT](INFO): DAT read: Bearing   4.5,  12.9 (Local)

2025-06-25T20:39:57.816Z,1750883997.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  12.9 (Local)

2025-06-25T20:39:57.818Z,1750883997.818 [DAT](INFO): DAT read: Range 10 to 50 : 489.0 m  (Round-trip  652.0 ms) speed  0.5 m/s

2025-06-25T20:39:57.819Z,1750883997.819 [DAT](INFO): DAT read: user:570>

2025-06-25T20:39:57.825Z,1750883997.825 [DAT](INFO): DAT read: Tx time:20:39:59.1354

2025-06-25T20:39:57.825Z,1750883997.825 [DAT](INFO): Ping request sent.
2025-06-25T20:39:57.825Z,1750883997.825 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:39:57.826Z,1750883997.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:39:57.827Z,1750883997.827 [DAT](INFO): direction in FSK: [0.971756,0.076479,-0.223250]
2025-06-25T20:39:57.856Z,1750883997.856 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:57.857Z,1750883997.857 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:57.865Z,1750883997.865 [DAT](INFO): publishing transmit ping time
2025-06-25T20:39:57.865Z,1750883997.865 [DAT](INFO): publishing direction and range info
2025-06-25T20:39:58.057Z,1750883998.057 [DAT](INFO): DAT read: TxSync time:20:39:59.1346

2025-06-25T20:39:58.094Z,1750883998.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 489.000000 m,
      deltaT: 4.049305 s,
      deltaX: -2.799988 m,
      approachRate: -0.691474 m/s,
      rangeRepo size: 4

2025-06-25T20:39:58.100Z,1750883998.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 484.324585 m,
      bearing: 239.013892 deg,
      lat: 36.906318 deg,
      lon: -122.116406 deg,
      deltaT: 4.049305 s,
      deltaX: -2.771729 m,
      approachRate: -0.684495 m/s,
      posRepo size: 4

2025-06-25T20:39:58.101Z,1750883998.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:39:58.108Z,1750883998.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 481.678192 m,
      bearing: 238.031131 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008475 deg/s,
      cmd heading: 233.737488 deg,
      new cmd heading: 233.746726 deg.

2025-06-25T20:39:58.109Z,1750883998.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079650 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:39:58.486Z,1750883998.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:39:58.489Z,1750883998.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:39:58.491Z,1750883998.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 481.400146 m,
      bearing: 238.036096 deg,
      approach rate: -0.703512 m/s,
      LOS rate: 0.012569 deg/s,
      cmd heading: 233.746723 deg,
      new cmd heading: 233.761625 deg.

2025-06-25T20:39:58.493Z,1750883998.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079910 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:39:58.563Z,1750883998.563 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:39:58.563Z,1750883998.563 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:39:58.565Z,1750883998.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:39:58.813Z,1750883998.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987975
2025-06-25T20:39:58.901Z,1750883998.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:39:58.904Z,1750883998.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 481.126190 m,
      bearing: 238.040017 deg,
      approach rate: -0.664467 m/s,
      LOS rate: 0.009515 deg/s,
      cmd heading: 233.761612 deg,
      new cmd heading: 233.773381 deg.

2025-06-25T20:39:58.905Z,1750883998.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080115 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:39:59.065Z,1750883999.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239869
2025-06-25T20:39:59.279Z,1750883999.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:39:59.282Z,1750883999.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 480.874084 m,
      bearing: 238.043590 deg,
      approach rate: -0.666398 m/s,
      LOS rate: 0.009449 deg/s,
      cmd heading: 233.773388 deg,
      new cmd heading: 233.784111 deg.

2025-06-25T20:39:59.283Z,1750883999.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080303 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:39:59.317Z,1750883999.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492387
2025-06-25T20:39:59.571Z,1750883999.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745701
2025-06-25T20:39:59.721Z,1750883999.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:39:59.723Z,1750883999.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 480.583893 m,
      bearing: 238.046250 deg,
      approach rate: -0.657664 m/s,
      LOS rate: 0.006033 deg/s,
      cmd heading: 233.784125 deg,
      new cmd heading: 233.792111 deg.

2025-06-25T20:39:59.724Z,1750883999.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080442 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:39:59.822Z,1750883999.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997433
2025-06-25T20:40:00.073Z,1750884000.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247831
2025-06-25T20:40:00.094Z,1750884000.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:00.097Z,1750884000.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 480.338287 m,
      bearing: 238.048458 deg,
      approach rate: -0.657976 m/s,
      LOS rate: 0.005918 deg/s,
      cmd heading: 233.792102 deg,
      new cmd heading: 233.798729 deg.

2025-06-25T20:40:00.098Z,1750884000.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080558 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:00.327Z,1750884000.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501826
2025-06-25T20:40:00.499Z,1750884000.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:00.501Z,1750884000.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:00.504Z,1750884000.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 480.070221 m,
      bearing: 238.050833 deg,
      approach rate: -0.658129 m/s,
      LOS rate: 0.005835 deg/s,
      cmd heading: 233.798741 deg,
      new cmd heading: 233.805871 deg.

2025-06-25T20:40:00.505Z,1750884000.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080682 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:00.577Z,1750884000.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751996
2025-06-25T20:40:00.829Z,1750884000.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003694
2025-06-25T20:40:00.918Z,1750884000.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:00.921Z,1750884000.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 479.798584 m,
      bearing: 238.052179 deg,
      approach rate: -0.651917 m/s,
      LOS rate: 0.003233 deg/s,
      cmd heading: 233.805872 deg,
      new cmd heading: 233.809914 deg.

2025-06-25T20:40:00.922Z,1750884000.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080753 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:01.081Z,1750884001.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256125
2025-06-25T20:40:01.317Z,1750884001.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:01.326Z,1750884001.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 479.550964 m,
      bearing: 238.053392 deg,
      approach rate: -0.620447 m/s,
      LOS rate: 0.003040 deg/s,
      cmd heading: 233.809916 deg,
      new cmd heading: 233.813555 deg.

2025-06-25T20:40:01.327Z,1750884001.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080816 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:01.333Z,1750884001.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508181
2025-06-25T20:40:01.585Z,1750884001.585 [DAT](INFO): DAT read: Rx Time:20:40:02.1877

2025-06-25T20:40:01.586Z,1750884001.586 [DAT](INFO): Rx dataTimestamp_ set to:1750884001.585235
2025-06-25T20:40:01.586Z,1750884001.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761070
2025-06-25T20:40:01.762Z,1750884001.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:01.773Z,1750884001.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 479.263794 m,
      bearing: 238.054282 deg,
      approach rate: -0.645482 m/s,
      LOS rate: 0.002002 deg/s,
      cmd heading: 233.813549 deg,
      new cmd heading: 233.816222 deg.

2025-06-25T20:40:01.774Z,1750884001.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080863 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:01.838Z,1750884001.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012760
2025-06-25T20:40:02.095Z,1750884002.095 [DAT](INFO): DAT read: 20:40:02.1877 LVL= 17088, 19313, 14962, 20979, AGC= 70, IDX= 409, 0.21, 2.816, 1.216, 2.628, 2.164, PHS= 0.740,-0.900, 0.461, RAW= 140.9,  -4.0, CAL= 146.2, -13.4, ROT=   3.8,  13.4

2025-06-25T20:40:02.096Z,1750884002.096 [DAT](INFO): got valid direction response:
 20:40:02.1877 LVL= 17088, 19313, 14962, 20979, AGC= 70, IDX= 409, 0.21, 2.816, 1.216, 2.628, 2.164, PHS= 0.740,-0.900, 0.461, RAW= 140.9,  -4.0, CAL= 146.2, -13.4, ROT=   3.8,  13.4

2025-06-25T20:40:02.097Z,1750884002.097 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:40:02.097Z,1750884002.097 [DAT](INFO): Received a bad header
2025-06-25T20:40:02.108Z,1750884002.108 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:40:02.109Z,1750884002.109 [DAT](INFO): direction in FSK: [0.970637,0.064470,-0.231748]
2025-06-25T20:40:02.120Z,1750884002.120 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:02.120Z,1750884002.120 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:02.121Z,1750884002.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:02.186Z,1750884002.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:02.209Z,1750884002.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 478.989441 m,
      bearing: 238.055143 deg,
      approach rate: -0.647270 m/s,
      LOS rate: 0.002032 deg/s,
      cmd heading: 233.816227 deg,
      new cmd heading: 233.818811 deg.

2025-06-25T20:40:02.215Z,1750884002.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080908 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:02.341Z,1750884002.341 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:02.341Z,1750884002.341 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:02.341Z,1750884002.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:02.507Z,1750884002.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:02.509Z,1750884002.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:02.512Z,1750884002.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 478.768311 m,
      bearing: 238.055846 deg,
      approach rate: -0.683357 m/s,
      LOS rate: 0.002174 deg/s,
      cmd heading: 233.818822 deg,
      new cmd heading: 233.820932 deg.

2025-06-25T20:40:02.513Z,1750884002.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080945 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:02.594Z,1750884002.594 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:02.594Z,1750884002.594 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:02.594Z,1750884002.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:02.845Z,1750884002.845 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:02.845Z,1750884002.845 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:02.845Z,1750884002.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:02.961Z,1750884002.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:02.968Z,1750884002.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 478.473175 m,
      bearing: 238.057157 deg,
      approach rate: -0.652856 m/s,
      LOS rate: 0.002902 deg/s,
      cmd heading: 233.820926 deg,
      new cmd heading: 233.824861 deg.

2025-06-25T20:40:02.969Z,1750884002.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081014 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:03.097Z,1750884003.097 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:03.097Z,1750884003.097 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:03.097Z,1750884003.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:03.341Z,1750884003.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:03.344Z,1750884003.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 478.226135 m,
      bearing: 238.058255 deg,
      approach rate: -0.652929 m/s,
      LOS rate: 0.002905 deg/s,
      cmd heading: 233.824860 deg,
      new cmd heading: 233.828157 deg.

2025-06-25T20:40:03.345Z,1750884003.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081071 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:03.349Z,1750884003.349 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:03.349Z,1750884003.349 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:03.349Z,1750884003.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:03.601Z,1750884003.601 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:03.601Z,1750884003.601 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:03.601Z,1750884003.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:03.817Z,1750884003.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:03.819Z,1750884003.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 477.910553 m,
      bearing: 238.060175 deg,
      approach rate: -0.661659 m/s,
      LOS rate: 0.004028 deg/s,
      cmd heading: 233.828166 deg,
      new cmd heading: 233.833929 deg.

2025-06-25T20:40:03.820Z,1750884003.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081172 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:03.853Z,1750884003.853 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:03.853Z,1750884003.853 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:03.853Z,1750884003.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:04.104Z,1750884004.104 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:04.105Z,1750884004.105 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:04.105Z,1750884004.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:04.181Z,1750884004.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:04.191Z,1750884004.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 477.673584 m,
      bearing: 238.061633 deg,
      approach rate: -0.650244 m/s,
      LOS rate: 0.004002 deg/s,
      cmd heading: 233.833930 deg,
      new cmd heading: 233.838306 deg.

2025-06-25T20:40:04.196Z,1750884004.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081248 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:04.357Z,1750884004.357 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:04.357Z,1750884004.357 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:04.357Z,1750884004.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:04.585Z,1750884004.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:04.587Z,1750884004.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:04.589Z,1750884004.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 477.420807 m,
      bearing: 238.063197 deg,
      approach rate: -0.623242 m/s,
      LOS rate: 0.003857 deg/s,
      cmd heading: 233.838302 deg,
      new cmd heading: 233.842995 deg.

2025-06-25T20:40:04.590Z,1750884004.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081330 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:04.609Z,1750884004.609 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:04.609Z,1750884004.609 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:04.609Z,1750884004.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:04.861Z,1750884004.861 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:04.861Z,1750884004.861 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:04.861Z,1750884004.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:05.087Z,1750884005.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:05.095Z,1750884005.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 477.072327 m,
      bearing: 238.066810 deg,
      approach rate: -0.696108 m/s,
      LOS rate: 0.007223 deg/s,
      cmd heading: 233.843001 deg,
      new cmd heading: 233.853848 deg.

2025-06-25T20:40:05.095Z,1750884005.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081520 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:05.114Z,1750884005.114 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:05.114Z,1750884005.114 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:05.115Z,1750884005.115 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:05.365Z,1750884005.365 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:05.365Z,1750884005.365 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:05.365Z,1750884005.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:05.601Z,1750884005.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:05.603Z,1750884005.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 476.739380 m,
      bearing: 238.070247 deg,
      approach rate: -0.648350 m/s,
      LOS rate: 0.006699 deg/s,
      cmd heading: 233.853847 deg,
      new cmd heading: 233.864167 deg.

2025-06-25T20:40:05.609Z,1750884005.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081700 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:05.617Z,1750884005.617 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:05.617Z,1750884005.617 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:05.617Z,1750884005.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:05.869Z,1750884005.869 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:05.869Z,1750884005.869 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:05.869Z,1750884005.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:05.997Z,1750884005.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:05.999Z,1750884005.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 476.459534 m,
      bearing: 238.074543 deg,
      approach rate: -0.708516 m/s,
      LOS rate: 0.010882 deg/s,
      cmd heading: 233.864175 deg,
      new cmd heading: 233.877068 deg.

2025-06-25T20:40:06.000Z,1750884006.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081925 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:06.121Z,1750884006.121 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:06.121Z,1750884006.121 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:06.121Z,1750884006.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:06.372Z,1750884006.372 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:06.373Z,1750884006.373 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:06.373Z,1750884006.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:06.424Z,1750884006.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:06.427Z,1750884006.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 476.189697 m,
      bearing: 238.078657 deg,
      approach rate: -0.636458 m/s,
      LOS rate: 0.009709 deg/s,
      cmd heading: 233.877070 deg,
      new cmd heading: 233.889419 deg.

2025-06-25T20:40:06.427Z,1750884006.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082140 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:06.625Z,1750884006.625 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:06.625Z,1750884006.625 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:06.625Z,1750884006.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:06.812Z,1750884006.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:06.814Z,1750884006.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:06.833Z,1750884006.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 475.904999 m,
      bearing: 238.083839 deg,
      approach rate: -0.722184 m/s,
      LOS rate: 0.013153 deg/s,
      cmd heading: 233.889419 deg,
      new cmd heading: 233.904974 deg.

2025-06-25T20:40:06.834Z,1750884006.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082412 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:06.877Z,1750884006.877 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:06.878Z,1750884006.878 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:06.878Z,1750884006.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:07.129Z,1750884007.129 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:07.129Z,1750884007.129 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:07.129Z,1750884007.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:07.209Z,1750884007.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:07.222Z,1750884007.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 475.652710 m,
      bearing: 238.088395 deg,
      approach rate: -0.682504 m/s,
      LOS rate: 0.012331 deg/s,
      cmd heading: 233.904964 deg,
      new cmd heading: 233.918639 deg.

2025-06-25T20:40:07.223Z,1750884007.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082651 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:07.381Z,1750884007.381 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:07.381Z,1750884007.381 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:07.381Z,1750884007.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:07.586Z,1750884007.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:07.592Z,1750884007.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 475.379303 m,
      bearing: 238.093297 deg,
      approach rate: -0.680269 m/s,
      LOS rate: 0.012204 deg/s,
      cmd heading: 233.918652 deg,
      new cmd heading: 233.933367 deg.

2025-06-25T20:40:07.593Z,1750884007.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082908 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:07.633Z,1750884007.633 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:07.633Z,1750884007.633 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:07.633Z,1750884007.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:07.884Z,1750884007.884 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:07.885Z,1750884007.885 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:07.885Z,1750884007.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:08.039Z,1750884008.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:08.041Z,1750884008.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 475.066223 m,
      bearing: 238.099268 deg,
      approach rate: -0.690947 m/s,
      LOS rate: 0.013186 deg/s,
      cmd heading: 233.933378 deg,
      new cmd heading: 233.951303 deg.

2025-06-25T20:40:08.042Z,1750884008.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083220 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:08.137Z,1750884008.137 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:08.137Z,1750884008.137 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:08.137Z,1750884008.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:08.388Z,1750884008.388 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:08.389Z,1750884008.389 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:08.389Z,1750884008.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:08.421Z,1750884008.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:08.424Z,1750884008.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 474.802246 m,
      bearing: 238.104308 deg,
      approach rate: -0.690262 m/s,
      LOS rate: 0.013188 deg/s,
      cmd heading: 233.951300 deg,
      new cmd heading: 233.966431 deg.

2025-06-25T20:40:08.425Z,1750884008.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083485 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:08.641Z,1750884008.641 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:08.641Z,1750884008.641 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:08.642Z,1750884008.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:08.838Z,1750884008.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:08.844Z,1750884008.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:08.847Z,1750884008.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 474.521729 m,
      bearing: 238.109562 deg,
      approach rate: -0.662855 m/s,
      LOS rate: 0.012423 deg/s,
      cmd heading: 233.966436 deg,
      new cmd heading: 233.982208 deg.

2025-06-25T20:40:08.852Z,1750884008.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083760 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:08.893Z,1750884008.893 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:40:08.893Z,1750884008.893 [DAT](INFO): response not received
2025-06-25T20:40:08.894Z,1750884008.894 [DAT](INFO): DAT read: user:572>

2025-06-25T20:40:08.895Z,1750884008.895 [DAT](INFO): DAT read: Tx time:20:40:10.0854

2025-06-25T20:40:08.895Z,1750884008.895 [DAT](INFO): Ping request sent.
2025-06-25T20:40:08.895Z,1750884008.895 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:08.895Z,1750884008.895 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:08.896Z,1750884008.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-06-25T20:40:09.145Z,1750884009.145 [DAT](INFO): DAT read: TxSync time:20:40:10.0846

2025-06-25T20:40:09.146Z,1750884009.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250793
2025-06-25T20:40:09.212Z,1750884009.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:09.215Z,1750884009.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 474.251160 m,
      bearing: 238.114606 deg,
      approach rate: -0.736424 m/s,
      LOS rate: 0.013734 deg/s,
      cmd heading: 233.982200 deg,
      new cmd heading: 233.997339 deg.

2025-06-25T20:40:09.215Z,1750884009.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084024 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:09.397Z,1750884009.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501791
2025-06-25T20:40:09.632Z,1750884009.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:09.635Z,1750884009.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 473.969330 m,
      bearing: 238.119903 deg,
      approach rate: -0.671204 m/s,
      LOS rate: 0.012623 deg/s,
      cmd heading: 233.997336 deg,
      new cmd heading: 234.013236 deg.

2025-06-25T20:40:09.638Z,1750884009.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084301 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:09.650Z,1750884009.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754343
2025-06-25T20:40:09.901Z,1750884009.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006053
2025-06-25T20:40:10.050Z,1750884010.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:10.058Z,1750884010.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 473.681702 m,
      bearing: 238.124198 deg,
      approach rate: -0.688877 m/s,
      LOS rate: 0.010294 deg/s,
      cmd heading: 234.013237 deg,
      new cmd heading: 234.026131 deg.

2025-06-25T20:40:10.064Z,1750884010.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084527 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:10.153Z,1750884010.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257889
2025-06-25T20:40:10.405Z,1750884010.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509728
2025-06-25T20:40:10.429Z,1750884010.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:10.431Z,1750884010.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 473.402252 m,
      bearing: 238.128314 deg,
      approach rate: -0.736430 m/s,
      LOS rate: 0.010853 deg/s,
      cmd heading: 234.026132 deg,
      new cmd heading: 234.038487 deg.

2025-06-25T20:40:10.432Z,1750884010.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084742 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:10.658Z,1750884010.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762516
2025-06-25T20:40:10.867Z,1750884010.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:10.870Z,1750884010.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:10.893Z,1750884010.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 473.090851 m,
      bearing: 238.131658 deg,
      approach rate: -0.706166 m/s,
      LOS rate: 0.007588 deg/s,
      cmd heading: 234.038481 deg,
      new cmd heading: 234.048519 deg.

2025-06-25T20:40:10.894Z,1750884010.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084917 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:10.909Z,1750884010.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013936
2025-06-25T20:40:11.162Z,1750884011.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129
2025-06-25T20:40:11.249Z,1750884011.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:11.251Z,1750884011.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 472.829956 m,
      bearing: 238.134448 deg,
      approach rate: -0.688244 m/s,
      LOS rate: 0.007366 deg/s,
      cmd heading: 234.048508 deg,
      new cmd heading: 234.056884 deg.

2025-06-25T20:40:11.256Z,1750884011.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085063 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:11.413Z,1750884011.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517783
2025-06-25T20:40:11.666Z,1750884011.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770537
2025-06-25T20:40:11.683Z,1750884011.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:11.690Z,1750884011.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 472.529816 m,
      bearing: 238.137681 deg,
      approach rate: -0.690589 m/s,
      LOS rate: 0.007443 deg/s,
      cmd heading: 234.056895 deg,
      new cmd heading: 234.066600 deg.

2025-06-25T20:40:11.691Z,1750884011.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085233 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:11.917Z,1750884011.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021855
2025-06-25T20:40:12.063Z,1750884012.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:12.066Z,1750884012.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 472.252655 m,
      bearing: 238.139844 deg,
      approach rate: -0.730019 m/s,
      LOS rate: 0.005700 deg/s,
      cmd heading: 234.066594 deg,
      new cmd heading: 234.073087 deg.

2025-06-25T20:40:12.067Z,1750884012.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085346 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:12.169Z,1750884012.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274204
2025-06-25T20:40:12.421Z,1750884012.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525801
2025-06-25T20:40:12.452Z,1750884012.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:12.455Z,1750884012.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 471.979797 m,
      bearing: 238.141976 deg,
      approach rate: -0.700328 m/s,
      LOS rate: 0.005475 deg/s,
      cmd heading: 234.073096 deg,
      new cmd heading: 234.079496 deg.

2025-06-25T20:40:12.456Z,1750884012.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085458 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:12.677Z,1750884012.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781294
2025-06-25T20:40:12.877Z,1750884012.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:12.879Z,1750884012.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:12.882Z,1750884012.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 471.687225 m,
      bearing: 238.143532 deg,
      approach rate: -0.686293 m/s,
      LOS rate: 0.003653 deg/s,
      cmd heading: 234.079489 deg,
      new cmd heading: 234.084161 deg.

2025-06-25T20:40:12.883Z,1750884012.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085539 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:12.925Z,1750884012.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029869
2025-06-25T20:40:13.177Z,1750884013.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281851
2025-06-25T20:40:13.246Z,1750884013.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:13.249Z,1750884013.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 471.434937 m,
      bearing: 238.144894 deg,
      approach rate: -0.686226 m/s,
      LOS rate: 0.003705 deg/s,
      cmd heading: 234.084161 deg,
      new cmd heading: 234.088248 deg.

2025-06-25T20:40:13.250Z,1750884013.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085611 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:13.430Z,1750884013.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534678
2025-06-25T20:40:13.679Z,1750884013.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:13.681Z,1750884013.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785902
2025-06-25T20:40:13.693Z,1750884013.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 471.142853 m,
      bearing: 238.146509 deg,
      approach rate: -0.675455 m/s,
      LOS rate: 0.003737 deg/s,
      cmd heading: 234.088259 deg,
      new cmd heading: 234.093107 deg.

2025-06-25T20:40:13.694Z,1750884013.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085695 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:13.933Z,1750884013.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038170
2025-06-25T20:40:14.100Z,1750884014.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:14.102Z,1750884014.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 470.855347 m,
      bearing: 238.147975 deg,
      approach rate: -0.683409 m/s,
      LOS rate: 0.003488 deg/s,
      cmd heading: 234.093095 deg,
      new cmd heading: 234.097497 deg.

2025-06-25T20:40:14.103Z,1750884014.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085772 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:14.186Z,1750884014.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290320
2025-06-25T20:40:14.197Z,1750884014.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:40:14.437Z,1750884014.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541683
2025-06-25T20:40:14.467Z,1750884014.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:14.470Z,1750884014.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 470.607666 m,
      bearing: 238.149272 deg,
      approach rate: -0.673380 m/s,
      LOS rate: 0.003528 deg/s,
      cmd heading: 234.097494 deg,
      new cmd heading: 234.101386 deg.

2025-06-25T20:40:14.471Z,1750884014.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085840 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:14.691Z,1750884014.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795608
2025-06-25T20:40:14.907Z,1750884014.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:14.910Z,1750884014.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:14.913Z,1750884014.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 470.314636 m,
      bearing: 238.150723 deg,
      approach rate: -0.662350 m/s,
      LOS rate: 0.003282 deg/s,
      cmd heading: 234.101373 deg,
      new cmd heading: 234.105729 deg.

2025-06-25T20:40:14.914Z,1750884014.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085916 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:14.941Z,1750884014.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045841
2025-06-25T20:40:15.193Z,1750884015.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297759
2025-06-25T20:40:15.200Z,1750884015.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:40:15.261Z,1750884015.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:15.264Z,1750884015.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 470.081177 m,
      bearing: 238.151858 deg,
      approach rate: -0.664281 m/s,
      LOS rate: 0.003231 deg/s,
      cmd heading: 234.105717 deg,
      new cmd heading: 234.109124 deg.

2025-06-25T20:40:15.265Z,1750884015.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085975 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:15.445Z,1750884015.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549816
2025-06-25T20:40:15.698Z,1750884015.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802570
2025-06-25T20:40:15.714Z,1750884015.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:15.725Z,1750884015.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 469.785065 m,
      bearing: 238.153270 deg,
      approach rate: -0.653523 m/s,
      LOS rate: 0.003119 deg/s,
      cmd heading: 234.109132 deg,
      new cmd heading: 234.113372 deg.

2025-06-25T20:40:15.726Z,1750884015.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086049 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:15.949Z,1750884015.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053752
2025-06-25T20:40:16.190Z,1750884016.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:16.193Z,1750884016.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 469.473755 m,
      bearing: 238.155212 deg,
      approach rate: -0.654811 m/s,
      LOS rate: 0.004087 deg/s,
      cmd heading: 234.113367 deg,
      new cmd heading: 234.119196 deg.

2025-06-25T20:40:16.194Z,1750884016.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086151 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:16.201Z,1750884016.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305932
2025-06-25T20:40:16.454Z,1750884016.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558300
2025-06-25T20:40:16.572Z,1750884016.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:16.574Z,1750884016.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 469.229706 m,
      bearing: 238.156714 deg,
      approach rate: -0.639203 m/s,
      LOS rate: 0.003936 deg/s,
      cmd heading: 234.119186 deg,
      new cmd heading: 234.123695 deg.

2025-06-25T20:40:16.575Z,1750884016.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086229 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:16.705Z,1750884016.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809778
2025-06-25T20:40:16.960Z,1750884016.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064690
2025-06-25T20:40:17.044Z,1750884017.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:17.046Z,1750884017.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:17.053Z,1750884017.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 468.916077 m,
      bearing: 238.159739 deg,
      approach rate: -0.661166 m/s,
      LOS rate: 0.006382 deg/s,
      cmd heading: 234.123694 deg,
      new cmd heading: 234.132776 deg.

2025-06-25T20:40:17.054Z,1750884017.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086388 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:17.210Z,1750884017.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314764
2025-06-25T20:40:17.461Z,1750884017.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565874
2025-06-25T20:40:17.462Z,1750884017.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:17.465Z,1750884017.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 468.633972 m,
      bearing: 238.162445 deg,
      approach rate: -0.677466 m/s,
      LOS rate: 0.006503 deg/s,
      cmd heading: 234.132765 deg,
      new cmd heading: 234.140889 deg.

2025-06-25T20:40:17.466Z,1750884017.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086529 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:17.716Z,1750884017.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820635
2025-06-25T20:40:17.815Z,1750884017.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:17.834Z,1750884017.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 468.398163 m,
      bearing: 238.164695 deg,
      approach rate: -0.668729 m/s,
      LOS rate: 0.006384 deg/s,
      cmd heading: 234.140879 deg,
      new cmd heading: 234.147632 deg.

2025-06-25T20:40:17.841Z,1750884017.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086647 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:17.969Z,1750884017.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074473
2025-06-25T20:40:18.221Z,1750884018.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325852
2025-06-25T20:40:18.245Z,1750884018.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:18.260Z,1750884018.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 468.109314 m,
      bearing: 238.167686 deg,
      approach rate: -0.671570 m/s,
      LOS rate: 0.006957 deg/s,
      cmd heading: 234.147627 deg,
      new cmd heading: 234.156604 deg.

2025-06-25T20:40:18.261Z,1750884018.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086804 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:18.473Z,1750884018.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578207
2025-06-25T20:40:18.639Z,1750884018.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:18.643Z,1750884018.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 467.847015 m,
      bearing: 238.170392 deg,
      approach rate: -0.666005 m/s,
      LOS rate: 0.006876 deg/s,
      cmd heading: 234.156616 deg,
      new cmd heading: 234.164740 deg.

2025-06-25T20:40:18.665Z,1750884018.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086946 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:18.726Z,1750884018.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830422
2025-06-25T20:40:18.976Z,1750884018.976 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:18.977Z,1750884018.977 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:18.977Z,1750884018.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:19.064Z,1750884019.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:19.068Z,1750884019.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:19.073Z,1750884019.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 467.558105 m,
      bearing: 238.174175 deg,
      approach rate: -0.674217 m/s,
      LOS rate: 0.008833 deg/s,
      cmd heading: 234.164730 deg,
      new cmd heading: 234.176086 deg.

2025-06-25T20:40:19.074Z,1750884019.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087144 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:19.228Z,1750884019.228 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:19.229Z,1750884019.229 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:19.229Z,1750884019.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:19.441Z,1750884019.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:19.448Z,1750884019.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 467.307983 m,
      bearing: 238.177434 deg,
      approach rate: -0.669599 m/s,
      LOS rate: 0.008730 deg/s,
      cmd heading: 234.176096 deg,
      new cmd heading: 234.185878 deg.

2025-06-25T20:40:19.449Z,1750884019.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087315 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:19.481Z,1750884019.481 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:19.481Z,1750884019.481 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:19.481Z,1750884019.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:19.733Z,1750884019.733 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:40:19.733Z,1750884019.733 [DAT](INFO): response not received
2025-06-25T20:40:19.734Z,1750884019.734 [DAT](INFO): DAT read: user:573>

2025-06-25T20:40:19.734Z,1750884019.734 [DAT](INFO): DAT read: Tx time:20:40:21.0355

2025-06-25T20:40:19.735Z,1750884019.735 [DAT](INFO): Ping request sent.
2025-06-25T20:40:19.735Z,1750884019.735 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:19.735Z,1750884019.735 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:19.735Z,1750884019.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-25T20:40:19.837Z,1750884019.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:19.844Z,1750884019.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 467.029663 m,
      bearing: 238.181066 deg,
      approach rate: -0.702157 m/s,
      LOS rate: 0.009169 deg/s,
      cmd heading: 234.185876 deg,
      new cmd heading: 234.196780 deg.

2025-06-25T20:40:19.845Z,1750884019.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087505 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:19.985Z,1750884019.985 [DAT](INFO): DAT read: TxSync time:20:40:21.0347

2025-06-25T20:40:19.986Z,1750884019.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251309
2025-06-25T20:40:20.237Z,1750884020.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502149
2025-06-25T20:40:20.263Z,1750884020.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:20.266Z,1750884020.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 466.735962 m,
      bearing: 238.185297 deg,
      approach rate: -0.689653 m/s,
      LOS rate: 0.009941 deg/s,
      cmd heading: 234.196777 deg,
      new cmd heading: 234.209478 deg.

2025-06-25T20:40:20.267Z,1750884020.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087727 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:20.489Z,1750884020.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754332
2025-06-25T20:40:20.651Z,1750884020.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:20.659Z,1750884020.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 466.480957 m,
      bearing: 238.189030 deg,
      approach rate: -0.658579 m/s,
      LOS rate: 0.009645 deg/s,
      cmd heading: 234.209482 deg,
      new cmd heading: 234.220685 deg.

2025-06-25T20:40:20.665Z,1750884020.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087922 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:20.741Z,1750884020.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006190
2025-06-25T20:40:20.993Z,1750884020.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258083
2025-06-25T20:40:21.065Z,1750884021.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:21.084Z,1750884021.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 466.186066 m,
      bearing: 238.193061 deg,
      approach rate: -0.711325 m/s,
      LOS rate: 0.009730 deg/s,
      cmd heading: 234.220683 deg,
      new cmd heading: 234.232785 deg.

2025-06-25T20:40:21.085Z,1750884021.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088133 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:21.245Z,1750884021.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509979
2025-06-25T20:40:21.462Z,1750884021.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:21.484Z,1750884021.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:21.487Z,1750884021.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 465.911346 m,
      bearing: 238.196821 deg,
      approach rate: -0.655029 m/s,
      LOS rate: 0.008971 deg/s,
      cmd heading: 234.232786 deg,
      new cmd heading: 234.244073 deg.

2025-06-25T20:40:21.497Z,1750884021.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762169
2025-06-25T20:40:21.498Z,1750884021.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088330 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:21.749Z,1750884021.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014101
2025-06-25T20:40:21.872Z,1750884021.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:21.875Z,1750884021.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 465.637756 m,
      bearing: 238.200565 deg,
      approach rate: -0.713686 m/s,
      LOS rate: 0.009773 deg/s,
      cmd heading: 234.244070 deg,
      new cmd heading: 234.255309 deg.

2025-06-25T20:40:21.875Z,1750884021.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088526 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:22.001Z,1750884022.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266421
2025-06-25T20:40:22.253Z,1750884022.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518146
2025-06-25T20:40:22.310Z,1750884022.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:22.316Z,1750884022.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 465.342743 m,
      bearing: 238.204952 deg,
      approach rate: -0.667749 m/s,
      LOS rate: 0.009935 deg/s,
      cmd heading: 234.255298 deg,
      new cmd heading: 234.268466 deg.

2025-06-25T20:40:22.317Z,1750884022.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088756 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:22.505Z,1750884022.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770134
2025-06-25T20:40:22.683Z,1750884022.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:22.686Z,1750884022.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 465.068512 m,
      bearing: 238.209015 deg,
      approach rate: -0.734812 m/s,
      LOS rate: 0.010895 deg/s,
      cmd heading: 234.268467 deg,
      new cmd heading: 234.280665 deg.

2025-06-25T20:40:22.686Z,1750884022.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088969 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:22.758Z,1750884022.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022688
2025-06-25T20:40:23.009Z,1750884023.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274041
2025-06-25T20:40:23.085Z,1750884023.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:23.108Z,1750884023.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 464.784729 m,
      bearing: 238.212465 deg,
      approach rate: -0.705487 m/s,
      LOS rate: 0.008581 deg/s,
      cmd heading: 234.280652 deg,
      new cmd heading: 234.291008 deg.

2025-06-25T20:40:23.109Z,1750884023.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089149 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:23.261Z,1750884023.261 [DAT](INFO): DAT read: Rx Time:20:40:24.0775

2025-06-25T20:40:23.261Z,1750884023.261 [DAT](INFO): Rx dataTimestamp_ set to:1750884023.261034
2025-06-25T20:40:23.262Z,1750884023.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527107
2025-06-25T20:40:23.462Z,1750884023.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:23.465Z,1750884023.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:23.468Z,1750884023.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 464.519348 m,
      bearing: 238.215703 deg,
      approach rate: -0.698330 m/s,
      LOS rate: 0.008526 deg/s,
      cmd heading: 234.291007 deg,
      new cmd heading: 234.300727 deg.

2025-06-25T20:40:23.469Z,1750884023.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089319 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:23.513Z,1750884023.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778137
2025-06-25T20:40:23.769Z,1750884023.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033453
2025-06-25T20:40:23.957Z,1750884023.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:23.968Z,1750884023.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 464.181458 m,
      bearing: 238.219831 deg,
      approach rate: -0.689293 m/s,
      LOS rate: 0.008427 deg/s,
      cmd heading: 234.300733 deg,
      new cmd heading: 234.313126 deg.

2025-06-25T20:40:23.971Z,1750884023.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089536 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:24.023Z,1750884024.023 [DAT](INFO): DAT read: 20:40:24.0775 LVL= 13952, 20785, 14322, 18931, AGC= 72, IDX= 318,-0.04,-1.942, 2.567,-1.943,-2.659, PHS= 0.806,-1.010, 0.714, RAW= 147.4,  -5.8, CAL= 152.7, -14.5, ROT= 357.3,  14.5

2025-06-25T20:40:24.024Z,1750884024.024 [DAT](INFO): got valid direction response:
 20:40:24.0775 LVL= 13952, 20785, 14322, 18931, AGC= 72, IDX= 318,-0.04,-1.942, 2.567,-1.943,-2.659, PHS= 0.806,-1.010, 0.714, RAW= 147.4,  -5.8, CAL= 152.7, -14.5, ROT= 357.3,  14.5

2025-06-25T20:40:24.025Z,1750884024.025 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:40:24.025Z,1750884024.025 [DAT](INFO): Received a bad header
2025-06-25T20:40:24.037Z,1750884024.037 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:40:24.040Z,1750884024.040 [DAT](INFO): direction in FSK: [0.967073,-0.045606,-0.250380]
2025-06-25T20:40:24.043Z,1750884024.043 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:24.043Z,1750884024.043 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:24.043Z,1750884024.043 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:24.269Z,1750884024.269 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:24.269Z,1750884024.269 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:24.269Z,1750884024.269 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:24.339Z,1750884024.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:24.346Z,1750884024.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 463.923523 m,
      bearing: 238.222616 deg,
      approach rate: -0.672475 m/s,
      LOS rate: 0.007264 deg/s,
      cmd heading: 234.313137 deg,
      new cmd heading: 234.321495 deg.

2025-06-25T20:40:24.347Z,1750884024.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089682 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:24.521Z,1750884024.521 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:24.521Z,1750884024.521 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:24.521Z,1750884024.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:24.737Z,1750884024.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:24.740Z,1750884024.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 463.629547 m,
      bearing: 238.225809 deg,
      approach rate: -0.737721 m/s,
      LOS rate: 0.008018 deg/s,
      cmd heading: 234.321497 deg,
      new cmd heading: 234.331082 deg.

2025-06-25T20:40:24.741Z,1750884024.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089849 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:24.773Z,1750884024.773 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:24.773Z,1750884024.773 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:24.773Z,1750884024.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:25.024Z,1750884025.024 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:25.025Z,1750884025.025 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:25.025Z,1750884025.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:25.126Z,1750884025.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:25.129Z,1750884025.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 463.357269 m,
      bearing: 238.228223 deg,
      approach rate: -0.699930 m/s,
      LOS rate: 0.006209 deg/s,
      cmd heading: 234.331086 deg,
      new cmd heading: 234.338332 deg.

2025-06-25T20:40:25.130Z,1750884025.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089975 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:25.277Z,1750884025.277 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:25.277Z,1750884025.277 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:25.277Z,1750884025.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:25.498Z,1750884025.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:25.500Z,1750884025.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:25.503Z,1750884025.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 463.097809 m,
      bearing: 238.230543 deg,
      approach rate: -0.694452 m/s,
      LOS rate: 0.006212 deg/s,
      cmd heading: 234.338326 deg,
      new cmd heading: 234.345290 deg.

2025-06-25T20:40:25.504Z,1750884025.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090097 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:25.529Z,1750884025.529 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:25.529Z,1750884025.529 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:25.529Z,1750884025.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:25.780Z,1750884025.780 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:25.781Z,1750884025.781 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:25.781Z,1750884025.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:25.924Z,1750884025.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:25.926Z,1750884025.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 462.816956 m,
      bearing: 238.233060 deg,
      approach rate: -0.695696 m/s,
      LOS rate: 0.006241 deg/s,
      cmd heading: 234.345293 deg,
      new cmd heading: 234.352851 deg.

2025-06-25T20:40:25.927Z,1750884025.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090229 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:26.037Z,1750884026.037 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:26.037Z,1750884026.037 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:26.038Z,1750884026.038 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:26.285Z,1750884026.285 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:26.285Z,1750884026.285 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:26.285Z,1750884026.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:26.346Z,1750884026.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:26.348Z,1750884026.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 462.515289 m,
      bearing: 238.235596 deg,
      approach rate: -0.682433 m/s,
      LOS rate: 0.005739 deg/s,
      cmd heading: 234.352861 deg,
      new cmd heading: 234.360471 deg.

2025-06-25T20:40:26.349Z,1750884026.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090362 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:26.538Z,1750884026.538 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:26.538Z,1750884026.538 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:26.538Z,1750884026.538 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:26.720Z,1750884026.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:26.722Z,1750884026.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 462.259277 m,
      bearing: 238.237755 deg,
      approach rate: -0.684564 m/s,
      LOS rate: 0.005777 deg/s,
      cmd heading: 234.360483 deg,
      new cmd heading: 234.366965 deg.

2025-06-25T20:40:26.723Z,1750884026.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090475 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:26.789Z,1750884026.789 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:26.789Z,1750884026.789 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:26.789Z,1750884026.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:27.043Z,1750884027.043 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:27.043Z,1750884027.043 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:27.043Z,1750884027.043 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:27.151Z,1750884027.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:27.154Z,1750884027.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 461.970123 m,
      bearing: 238.240255 deg,
      approach rate: -0.670221 m/s,
      LOS rate: 0.005798 deg/s,
      cmd heading: 234.366958 deg,
      new cmd heading: 234.374462 deg.

2025-06-25T20:40:27.155Z,1750884027.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090606 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:27.293Z,1750884027.293 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:27.293Z,1750884027.293 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:27.293Z,1750884027.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:27.510Z,1750884027.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:27.513Z,1750884027.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:27.515Z,1750884027.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 461.728149 m,
      bearing: 238.242342 deg,
      approach rate: -0.669176 m/s,
      LOS rate: 0.005777 deg/s,
      cmd heading: 234.374472 deg,
      new cmd heading: 234.380739 deg.

2025-06-25T20:40:27.516Z,1750884027.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090715 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:27.545Z,1750884027.545 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:27.545Z,1750884027.545 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:27.545Z,1750884027.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:27.797Z,1750884027.797 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:27.797Z,1750884027.797 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:27.797Z,1750884027.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:27.924Z,1750884027.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:27.927Z,1750884027.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 461.452057 m,
      bearing: 238.244732 deg,
      approach rate: -0.671693 m/s,
      LOS rate: 0.005818 deg/s,
      cmd heading: 234.380728 deg,
      new cmd heading: 234.387902 deg.

2025-06-25T20:40:27.927Z,1750884027.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090841 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:28.051Z,1750884028.051 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:28.051Z,1750884028.051 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:28.051Z,1750884028.051 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:28.300Z,1750884028.300 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:28.301Z,1750884028.301 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:28.301Z,1750884028.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:28.369Z,1750884028.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:28.388Z,1750884028.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 461.155304 m,
      bearing: 238.247560 deg,
      approach rate: -0.665880 m/s,
      LOS rate: 0.006349 deg/s,
      cmd heading: 234.387913 deg,
      new cmd heading: 234.396401 deg.

2025-06-25T20:40:28.389Z,1750884028.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090989 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:28.553Z,1750884028.553 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:28.553Z,1750884028.553 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:28.553Z,1750884028.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:28.744Z,1750884028.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:28.747Z,1750884028.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 460.917450 m,
      bearing: 238.249816 deg,
      approach rate: -0.641688 m/s,
      LOS rate: 0.006088 deg/s,
      cmd heading: 234.396410 deg,
      new cmd heading: 234.403180 deg.

2025-06-25T20:40:28.752Z,1750884028.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091107 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:28.805Z,1750884028.805 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:28.805Z,1750884028.805 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:28.805Z,1750884028.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:29.059Z,1750884029.059 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:29.060Z,1750884029.060 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:29.060Z,1750884029.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:29.156Z,1750884029.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:29.159Z,1750884029.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 460.631104 m,
      bearing: 238.252560 deg,
      approach rate: -0.688331 m/s,
      LOS rate: 0.006602 deg/s,
      cmd heading: 234.403186 deg,
      new cmd heading: 234.411425 deg.

2025-06-25T20:40:29.160Z,1750884029.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091251 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:29.309Z,1750884029.309 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:29.309Z,1750884029.309 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:29.309Z,1750884029.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:29.538Z,1750884029.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:29.556Z,1750884029.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:29.559Z,1750884029.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 460.376709 m,
      bearing: 238.254988 deg,
      approach rate: -0.635472 m/s,
      LOS rate: 0.006069 deg/s,
      cmd heading: 234.411437 deg,
      new cmd heading: 234.418726 deg.

2025-06-25T20:40:29.561Z,1750884029.561 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:29.561Z,1750884029.561 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:29.561Z,1750884029.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:29.564Z,1750884029.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091379 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:29.813Z,1750884029.813 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:29.813Z,1750884029.813 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:29.813Z,1750884029.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:29.956Z,1750884029.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:29.959Z,1750884029.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 460.100708 m,
      bearing: 238.257626 deg,
      approach rate: -0.690596 m/s,
      LOS rate: 0.006603 deg/s,
      cmd heading: 234.418731 deg,
      new cmd heading: 234.426648 deg.

2025-06-25T20:40:29.960Z,1750884029.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091517 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:30.079Z,1750884030.079 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:30.080Z,1750884030.080 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:30.081Z,1750884030.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:30.328Z,1750884030.328 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:30.329Z,1750884030.329 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:30.329Z,1750884030.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:30.403Z,1750884030.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:30.409Z,1750884030.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 459.797211 m,
      bearing: 238.260346 deg,
      approach rate: -0.679509 m/s,
      LOS rate: 0.006094 deg/s,
      cmd heading: 234.426654 deg,
      new cmd heading: 234.434820 deg.

2025-06-25T20:40:30.410Z,1750884030.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091660 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:30.581Z,1750884030.581 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:40:30.581Z,1750884030.581 [DAT](INFO): response not received
2025-06-25T20:40:30.582Z,1750884030.582 [DAT](INFO): DAT read: user:575>

2025-06-25T20:40:30.582Z,1750884030.582 [DAT](ERROR): No response from remote modem.
2025-06-25T20:40:30.582Z,1750884030.582 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:30.583Z,1750884030.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:30.778Z,1750884030.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:30.781Z,1750884030.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 459.554382 m,
      bearing: 238.262525 deg,
      approach rate: -0.646704 m/s,
      LOS rate: 0.005806 deg/s,
      cmd heading: 234.434823 deg,
      new cmd heading: 234.441363 deg.

2025-06-25T20:40:30.782Z,1750884030.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091774 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:30.833Z,1750884030.833 [DAT](INFO): DAT read: Tx time:20:40:31.9856

2025-06-25T20:40:30.833Z,1750884030.833 [DAT](INFO): Ping request sent.
2025-06-25T20:40:30.833Z,1750884030.833 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:30.834Z,1750884030.834 [DAT](INFO): DAT read: TxSync time:20:40:31.9848

2025-06-25T20:40:30.834Z,1750884030.834 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:30.835Z,1750884030.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001577
2025-06-25T20:40:31.087Z,1750884031.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253407
2025-06-25T20:40:31.202Z,1750884031.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:31.205Z,1750884031.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 459.251038 m,
      bearing: 238.265788 deg,
      approach rate: -0.715092 m/s,
      LOS rate: 0.007698 deg/s,
      cmd heading: 234.441353 deg,
      new cmd heading: 234.451150 deg.

2025-06-25T20:40:31.206Z,1750884031.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091945 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:31.337Z,1750884031.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503674
2025-06-25T20:40:31.581Z,1750884031.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:31.583Z,1750884031.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:31.586Z,1750884031.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 458.990021 m,
      bearing: 238.268606 deg,
      approach rate: -0.684728 m/s,
      LOS rate: 0.007396 deg/s,
      cmd heading: 234.451161 deg,
      new cmd heading: 234.459619 deg.

2025-06-25T20:40:31.587Z,1750884031.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092093 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:31.589Z,1750884031.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755435
2025-06-25T20:40:31.841Z,1750884031.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007171
2025-06-25T20:40:31.985Z,1750884031.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:31.988Z,1750884031.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 458.714325 m,
      bearing: 238.271479 deg,
      approach rate: -0.685995 m/s,
      LOS rate: 0.007153 deg/s,
      cmd heading: 234.459630 deg,
      new cmd heading: 234.468255 deg.

2025-06-25T20:40:31.989Z,1750884031.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092243 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:32.096Z,1750884032.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261692
2025-06-25T20:40:32.345Z,1750884032.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511496
2025-06-25T20:40:32.414Z,1750884032.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:32.417Z,1750884032.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 458.408539 m,
      bearing: 238.275082 deg,
      approach rate: -0.713790 m/s,
      LOS rate: 0.008416 deg/s,
      cmd heading: 234.468264 deg,
      new cmd heading: 234.479080 deg.

2025-06-25T20:40:32.418Z,1750884032.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092432 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:32.598Z,1750884032.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764145
2025-06-25T20:40:32.811Z,1750884032.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:32.817Z,1750884032.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 458.138489 m,
      bearing: 238.278255 deg,
      approach rate: -0.680582 m/s,
      LOS rate: 0.008001 deg/s,
      cmd heading: 234.479083 deg,
      new cmd heading: 234.488608 deg.

2025-06-25T20:40:32.818Z,1750884032.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092598 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:32.849Z,1750884032.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015682
2025-06-25T20:40:33.104Z,1750884033.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269713
2025-06-25T20:40:33.225Z,1750884033.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:33.227Z,1750884033.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 457.824493 m,
      bearing: 238.282268 deg,
      approach rate: -0.758240 m/s,
      LOS rate: 0.009697 deg/s,
      cmd heading: 234.488618 deg,
      new cmd heading: 234.500664 deg.

2025-06-25T20:40:33.229Z,1750884033.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092809 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:33.353Z,1750884033.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519798
2025-06-25T20:40:33.592Z,1750884033.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:33.594Z,1750884033.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:33.597Z,1750884033.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 457.556854 m,
      bearing: 238.285752 deg,
      approach rate: -0.724862 m/s,
      LOS rate: 0.009442 deg/s,
      cmd heading: 234.500666 deg,
      new cmd heading: 234.511125 deg.

2025-06-25T20:40:33.598Z,1750884033.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092991 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:33.605Z,1750884033.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771369
2025-06-25T20:40:33.857Z,1750884033.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023482
2025-06-25T20:40:34.013Z,1750884034.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:34.016Z,1750884034.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 457.264069 m,
      bearing: 238.289633 deg,
      approach rate: -0.698467 m/s,
      LOS rate: 0.009265 deg/s,
      cmd heading: 234.511130 deg,
      new cmd heading: 234.522781 deg.

2025-06-25T20:40:34.017Z,1750884034.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093194 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:34.115Z,1750884034.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280835
2025-06-25T20:40:34.377Z,1750884034.377 [DAT](INFO): DAT read: 20:40:35.0078 LVL= 20272, 18577, 17858, 23075, AGC= 68, IDX= 363,-0.21, 2.978, 1.299, 2.943, 2.262, PHS= 0.804,-0.915, 0.679, RAW= 146.2,  -6.9, CAL= 152.0, -15.7, ROT= 358.0,  15.7

2025-06-25T20:40:34.378Z,1750884034.378 [DAT](INFO): got valid direction response:
 20:40:35.0078 LVL= 20272, 18577, 17858, 23075, AGC= 68, IDX= 363,-0.21, 2.978, 1.299, 2.943, 2.262, PHS= 0.804,-0.915, 0.679, RAW= 146.2,  -6.9, CAL= 152.0, -15.7, ROT= 358.0,  15.7

2025-06-25T20:40:34.378Z,1750884034.378 [DAT](INFO): DAT read: Rx Time:20:40:35.0078

2025-06-25T20:40:34.379Z,1750884034.379 [DAT](INFO): Rx dataTimestamp_ set to:1750884034.378583
2025-06-25T20:40:34.388Z,1750884034.388 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-25T20:40:34.388Z,1750884034.388 [DAT](INFO): Received low SNR in chirp
2025-06-25T20:40:34.405Z,1750884034.405 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:40:34.406Z,1750884034.406 [DAT](INFO): direction in FSK: [0.962105,-0.033598,-0.270600]
2025-06-25T20:40:34.409Z,1750884034.409 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:34.409Z,1750884034.409 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:34.410Z,1750884034.410 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:34.482Z,1750884034.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:34.489Z,1750884034.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 456.914581 m,
      bearing: 238.294146 deg,
      approach rate: -0.744723 m/s,
      LOS rate: 0.009623 deg/s,
      cmd heading: 234.522769 deg,
      new cmd heading: 234.536316 deg.

2025-06-25T20:40:34.490Z,1750884034.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093431 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:34.617Z,1750884034.617 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:34.617Z,1750884034.617 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:34.617Z,1750884034.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:34.805Z,1750884034.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:34.808Z,1750884034.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 456.672089 m,
      bearing: 238.297300 deg,
      approach rate: -0.751109 m/s,
      LOS rate: 0.009774 deg/s,
      cmd heading: 234.536320 deg,
      new cmd heading: 234.545787 deg.

2025-06-25T20:40:34.809Z,1750884034.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093596 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:34.870Z,1750884034.870 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:34.870Z,1750884034.870 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:34.870Z,1750884034.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:35.123Z,1750884035.123 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:35.124Z,1750884035.124 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:35.124Z,1750884035.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:35.233Z,1750884035.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:35.236Z,1750884035.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 456.362457 m,
      bearing: 238.301552 deg,
      approach rate: -0.723080 m/s,
      LOS rate: 0.009938 deg/s,
      cmd heading: 234.545800 deg,
      new cmd heading: 234.558566 deg.

2025-06-25T20:40:35.237Z,1750884035.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093819 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:35.373Z,1750884035.373 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:35.373Z,1750884035.373 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:35.373Z,1750884035.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:35.612Z,1750884035.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:35.615Z,1750884035.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:35.617Z,1750884035.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 456.086151 m,
      bearing: 238.305379 deg,
      approach rate: -0.725038 m/s,
      LOS rate: 0.010047 deg/s,
      cmd heading: 234.558559 deg,
      new cmd heading: 234.570045 deg.

2025-06-25T20:40:35.618Z,1750884035.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094019 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:35.625Z,1750884035.625 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:35.625Z,1750884035.625 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:35.625Z,1750884035.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:35.877Z,1750884035.877 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:35.877Z,1750884035.877 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:35.877Z,1750884035.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:36.043Z,1750884036.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:36.062Z,1750884036.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 455.775238 m,
      bearing: 238.309690 deg,
      approach rate: -0.725082 m/s,
      LOS rate: 0.010062 deg/s,
      cmd heading: 234.570034 deg,
      new cmd heading: 234.582978 deg.

2025-06-25T20:40:36.063Z,1750884036.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094245 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:36.131Z,1750884036.131 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:36.132Z,1750884036.132 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:36.133Z,1750884036.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:36.381Z,1750884036.381 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:36.381Z,1750884036.381 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:36.381Z,1750884036.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:36.459Z,1750884036.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:36.466Z,1750884036.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 455.483093 m,
      bearing: 238.314227 deg,
      approach rate: -0.702264 m/s,
      LOS rate: 0.010913 deg/s,
      cmd heading: 234.582984 deg,
      new cmd heading: 234.596603 deg.

2025-06-25T20:40:36.467Z,1750884036.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094483 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:36.633Z,1750884036.633 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:36.633Z,1750884036.633 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:36.634Z,1750884036.634 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:36.833Z,1750884036.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:36.836Z,1750884036.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 455.209442 m,
      bearing: 238.318507 deg,
      approach rate: -0.731961 m/s,
      LOS rate: 0.011455 deg/s,
      cmd heading: 234.596617 deg,
      new cmd heading: 234.609465 deg.

2025-06-25T20:40:36.837Z,1750884036.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094707 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:36.885Z,1750884036.885 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:36.886Z,1750884036.886 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:36.886Z,1750884036.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:37.138Z,1750884037.138 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:37.139Z,1750884037.139 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:37.139Z,1750884037.139 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:37.285Z,1750884037.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:37.288Z,1750884037.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 454.893585 m,
      bearing: 238.323076 deg,
      approach rate: -0.698749 m/s,
      LOS rate: 0.010114 deg/s,
      cmd heading: 234.609457 deg,
      new cmd heading: 234.623172 deg.

2025-06-25T20:40:37.289Z,1750884037.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094947 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:37.389Z,1750884037.389 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:37.389Z,1750884037.389 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:37.389Z,1750884037.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:37.641Z,1750884037.641 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:37.641Z,1750884037.641 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:37.641Z,1750884037.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:37.724Z,1750884037.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:37.726Z,1750884037.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:37.729Z,1750884037.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 454.585602 m,
      bearing: 238.327509 deg,
      approach rate: -0.698464 m/s,
      LOS rate: 0.010062 deg/s,
      cmd heading: 234.623172 deg,
      new cmd heading: 234.636483 deg.

2025-06-25T20:40:37.730Z,1750884037.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095179 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:37.892Z,1750884037.892 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:37.893Z,1750884037.893 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:37.893Z,1750884037.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:38.043Z,1750884038.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:38.047Z,1750884038.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 454.363770 m,
      bearing: 238.330683 deg,
      approach rate: -0.699773 m/s,
      LOS rate: 0.010015 deg/s,
      cmd heading: 234.636478 deg,
      new cmd heading: 234.646002 deg.

2025-06-25T20:40:38.048Z,1750884038.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095345 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:38.145Z,1750884038.145 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:38.145Z,1750884038.145 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:38.145Z,1750884038.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:38.397Z,1750884038.397 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:38.397Z,1750884038.397 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:38.397Z,1750884038.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:38.509Z,1750884038.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:38.516Z,1750884038.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 454.053040 m,
      bearing: 238.334673 deg,
      approach rate: -0.666598 m/s,
      LOS rate: 0.008566 deg/s,
      cmd heading: 234.646013 deg,
      new cmd heading: 234.657991 deg.

2025-06-25T20:40:38.517Z,1750884038.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095554 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:38.650Z,1750884038.650 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:38.650Z,1750884038.650 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:38.650Z,1750884038.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:38.867Z,1750884038.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:38.870Z,1750884038.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 453.809326 m,
      bearing: 238.337769 deg,
      approach rate: -0.680513 m/s,
      LOS rate: 0.008649 deg/s,
      cmd heading: 234.657979 deg,
      new cmd heading: 234.667272 deg.

2025-06-25T20:40:38.871Z,1750884038.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095716 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:38.901Z,1750884038.901 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:38.901Z,1750884038.901 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:38.901Z,1750884038.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:39.154Z,1750884039.154 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:39.154Z,1750884039.154 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:39.154Z,1750884039.154 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:39.281Z,1750884039.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:39.284Z,1750884039.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 453.538940 m,
      bearing: 238.340444 deg,
      approach rate: -0.653511 m/s,
      LOS rate: 0.006470 deg/s,
      cmd heading: 234.667268 deg,
      new cmd heading: 234.675299 deg.

2025-06-25T20:40:39.285Z,1750884039.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095857 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:39.405Z,1750884039.405 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:39.405Z,1750884039.405 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:39.405Z,1750884039.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:39.657Z,1750884039.657 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:39.657Z,1750884039.657 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:39.657Z,1750884039.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:39.671Z,1750884039.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:39.674Z,1750884039.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 453.287048 m,
      bearing: 238.342912 deg,
      approach rate: -0.646661 m/s,
      LOS rate: 0.006337 deg/s,
      cmd heading: 234.675300 deg,
      new cmd heading: 234.682706 deg.

2025-06-25T20:40:39.675Z,1750884039.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095986 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:39.909Z,1750884039.909 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:39.909Z,1750884039.909 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:39.909Z,1750884039.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:40.057Z,1750884040.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:40.059Z,1750884040.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:40.062Z,1750884040.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 453.030792 m,
      bearing: 238.345405 deg,
      approach rate: -0.660158 m/s,
      LOS rate: 0.006428 deg/s,
      cmd heading: 234.682704 deg,
      new cmd heading: 234.690190 deg.

2025-06-25T20:40:40.063Z,1750884040.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096117 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:40.161Z,1750884040.161 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:40.161Z,1750884040.161 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:40.161Z,1750884040.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:40.413Z,1750884040.413 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:40.413Z,1750884040.413 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:40.413Z,1750884040.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:40.515Z,1750884040.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:40.518Z,1750884040.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 452.744995 m,
      bearing: 238.348191 deg,
      approach rate: -0.626166 m/s,
      LOS rate: 0.006106 deg/s,
      cmd heading: 234.690190 deg,
      new cmd heading: 234.698551 deg.

2025-06-25T20:40:40.519Z,1750884040.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096262 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:40.665Z,1750884040.665 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:40.665Z,1750884040.665 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:40.665Z,1750884040.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:40:40.887Z,1750884040.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:40.894Z,1750884040.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 452.494171 m,
      bearing: 238.350605 deg,
      approach rate: -0.674066 m/s,
      LOS rate: 0.006492 deg/s,
      cmd heading: 234.698550 deg,
      new cmd heading: 234.705797 deg.

2025-06-25T20:40:40.895Z,1750884040.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096389 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:40.917Z,1750884040.917 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:40.919Z,1750884040.919 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:40.919Z,1750884040.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:41.170Z,1750884041.170 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:41.170Z,1750884041.170 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:41.171Z,1750884041.171 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:41.293Z,1750884041.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:41.295Z,1750884041.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 452.224396 m,
      bearing: 238.353187 deg,
      approach rate: -0.665976 m/s,
      LOS rate: 0.006379 deg/s,
      cmd heading: 234.705790 deg,
      new cmd heading: 234.713543 deg.

2025-06-25T20:40:41.296Z,1750884041.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096524 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:41.420Z,1750884041.420 [DAT](INFO): Reached modem response timeout
2025-06-25T20:40:41.421Z,1750884041.421 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:40:41.421Z,1750884041.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:41.673Z,1750884041.673 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:40:41.673Z,1750884041.673 [DAT](INFO): response not received
2025-06-25T20:40:41.674Z,1750884041.674 [DAT](INFO): DAT read: user:577>

2025-06-25T20:40:41.675Z,1750884041.675 [DAT](INFO): DAT read: Tx time:20:40:42.9357

2025-06-25T20:40:41.675Z,1750884041.675 [DAT](INFO): Ping request sent.
2025-06-25T20:40:41.675Z,1750884041.675 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:41.675Z,1750884041.675 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:41.676Z,1750884041.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000825
2025-06-25T20:40:41.688Z,1750884041.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:41.691Z,1750884041.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 451.965851 m,
      bearing: 238.355628 deg,
      approach rate: -0.654130 m/s,
      LOS rate: 0.006177 deg/s,
      cmd heading: 234.713550 deg,
      new cmd heading: 234.720874 deg.

2025-06-25T20:40:41.692Z,1750884041.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096652 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:41.925Z,1750884041.925 [DAT](INFO): DAT read: TxSync time:20:40:42.9349

2025-06-25T20:40:41.926Z,1750884041.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250683
2025-06-25T20:40:42.088Z,1750884042.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:42.090Z,1750884042.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:42.093Z,1750884042.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 451.703308 m,
      bearing: 238.358097 deg,
      approach rate: -0.652960 m/s,
      LOS rate: 0.006145 deg/s,
      cmd heading: 234.720872 deg,
      new cmd heading: 234.728284 deg.

2025-06-25T20:40:42.094Z,1750884042.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096781 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:42.178Z,1750884042.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502708
2025-06-25T20:40:42.429Z,1750884042.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753659
2025-06-25T20:40:42.496Z,1750884042.496 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +656,   -12,A
2025-06-25T20:40:42.511Z,1750884042.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:42.514Z,1750884042.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 451.428009 m,
      bearing: 238.360690 deg,
      approach rate: -0.654273 m/s,
      LOS rate: 0.006165 deg/s,
      cmd heading: 234.728275 deg,
      new cmd heading: 234.736058 deg.

2025-06-25T20:40:42.515Z,1750884042.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096917 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:42.681Z,1750884042.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005977
2025-06-25T20:40:42.895Z,1750884042.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:42.898Z,1750884042.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 451.176849 m,
      bearing: 238.363070 deg,
      approach rate: -0.653393 m/s,
      LOS rate: 0.006195 deg/s,
      cmd heading: 234.736062 deg,
      new cmd heading: 234.743206 deg.

2025-06-25T20:40:42.899Z,1750884042.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097042 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:42.934Z,1750884042.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258427
2025-06-25T20:40:43.185Z,1750884043.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509676
2025-06-25T20:40:43.335Z,1750884043.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:43.338Z,1750884043.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 450.882263 m,
      bearing: 238.364861 deg,
      approach rate: -0.669134 m/s,
      LOS rate: 0.004072 deg/s,
      cmd heading: 234.743193 deg,
      new cmd heading: 234.748571 deg.

2025-06-25T20:40:43.339Z,1750884043.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097136 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:43.437Z,1750884043.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761816
2025-06-25T20:40:43.689Z,1750884043.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013881
2025-06-25T20:40:43.699Z,1750884043.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:43.702Z,1750884043.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 450.638367 m,
      bearing: 238.366372 deg,
      approach rate: -0.669731 m/s,
      LOS rate: 0.004151 deg/s,
      cmd heading: 234.748575 deg,
      new cmd heading: 234.753110 deg.

2025-06-25T20:40:43.703Z,1750884043.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097215 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:43.941Z,1750884043.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265761
2025-06-25T20:40:44.100Z,1750884044.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:44.102Z,1750884044.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:44.105Z,1750884044.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 450.369293 m,
      bearing: 238.368050 deg,
      approach rate: -0.667817 m/s,
      LOS rate: 0.004166 deg/s,
      cmd heading: 234.753110 deg,
      new cmd heading: 234.758145 deg.

2025-06-25T20:40:44.106Z,1750884044.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097302 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:44.194Z,1750884044.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519083
2025-06-25T20:40:44.445Z,1750884044.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769707
2025-06-25T20:40:44.526Z,1750884044.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:44.529Z,1750884044.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 450.071747 m,
      bearing: 238.370256 deg,
      approach rate: -0.701606 m/s,
      LOS rate: 0.005205 deg/s,
      cmd heading: 234.758137 deg,
      new cmd heading: 234.764759 deg.

2025-06-25T20:40:44.530Z,1750884044.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097418 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:44.698Z,1750884044.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022787
2025-06-25T20:40:44.911Z,1750884044.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:44.915Z,1750884044.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 449.801880 m,
      bearing: 238.372235 deg,
      approach rate: -0.701153 m/s,
      LOS rate: 0.005147 deg/s,
      cmd heading: 234.764749 deg,
      new cmd heading: 234.770692 deg.

2025-06-25T20:40:44.916Z,1750884044.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097522 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:44.950Z,1750884044.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274611
2025-06-25T20:40:45.201Z,1750884045.201 [DAT](INFO): DAT read: Rx Time:20:40:45.9477

2025-06-25T20:40:45.201Z,1750884045.201 [DAT](INFO): Rx dataTimestamp_ set to:1750884045.201059
2025-06-25T20:40:45.202Z,1750884045.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526836
2025-06-25T20:40:45.332Z,1750884045.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:40:45.366Z,1750884045.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.32 m.
2025-06-25T20:40:45.369Z,1750884045.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.324585 m,
      nav range: 449.485260 m,
      bearing: 238.375555 deg,
      approach rate: -0.696018 m/s,
      LOS rate: 0.007302 deg/s,
      cmd heading: 234.770705 deg,
      new cmd heading: 234.780670 deg.

2025-06-25T20:40:45.370Z,1750884045.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097696 target range: 484.324585 and range: 489.00 m.
2025-06-25T20:40:45.454Z,1750884045.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778507
2025-06-25T20:40:45.711Z,1750884045.711 [DAT](INFO): DAT read: 20:40:45.9477 LVL= 19568, 17713, 18626, 20515, AGC= 74, IDX= 333,-0.02, 1.003,-0.437, 0.837, 0.418, PHS= 0.673,-0.807, 0.416, RAW= 140.7,  -4.2, CAL= 146.1, -13.5, ROT=   3.9,  13.5

2025-06-25T20:40:45.712Z,1750884045.712 [DAT](INFO): got valid direction response:
 20:40:45.9477 LVL= 19568, 17713, 18626, 20515, AGC= 74, IDX= 333,-0.02, 1.003,-0.437, 0.837, 0.418, PHS= 0.673,-0.807, 0.416, RAW= 140.7,  -4.2, CAL= 146.1, -13.5, ROT=   3.9,  13.5

2025-06-25T20:40:45.713Z,1750884045.713 [DAT](INFO): DAT read: Bearing   3.9,  13.5 (Local)

2025-06-25T20:40:45.713Z,1750884045.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,  13.5 (Local)

2025-06-25T20:40:45.715Z,1750884045.715 [DAT](INFO): DAT read: Range 10 to 50 : 455.9 m  (Round-trip  607.9 ms) speed  0.8 m/s

2025-06-25T20:40:45.716Z,1750884045.716 [DAT](INFO): DAT read: user:578>

2025-06-25T20:40:45.716Z,1750884045.716 [DAT](INFO): DAT read: Tx time:20:40:47.0357

2025-06-25T20:40:45.717Z,1750884045.717 [DAT](INFO): Ping request sent.
2025-06-25T20:40:45.717Z,1750884045.717 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:45.717Z,1750884045.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:40:45.718Z,1750884045.718 [DAT](INFO): direction in FSK: [0.970118,0.066136,-0.233445]
2025-06-25T20:40:45.718Z,1750884045.718 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:45.719Z,1750884045.719 [DAT](INFO): publishing direction and range info
2025-06-25T20:40:45.726Z,1750884045.726 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:45.726Z,1750884045.726 [DAT](INFO): publishing direction and range info
2025-06-25T20:40:45.796Z,1750884045.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.899994 m,
      deltaT: 47.897931 s,
      deltaX: -33.100006 m,
      approachRate: -0.691053 m/s,
      rangeRepo size: 4

2025-06-25T20:40:45.798Z,1750884045.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 451.538605 m,
      bearing: 239.532887 deg,
      lat: 36.906384 deg,
      lon: -122.116406 deg,
      deltaT: 47.897931 s,
      deltaX: -32.785980 m,
      approachRate: -0.684497 m/s,
      posRepo size: 4

2025-06-25T20:40:45.799Z,1750884045.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:45.810Z,1750884045.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 445.459656 m,
      bearing: 239.175100 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007302 deg/s,
      cmd heading: 234.780677 deg,
      new cmd heading: 234.789812 deg.

2025-06-25T20:40:45.811Z,1750884045.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097855 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:45.957Z,1750884045.957 [DAT](INFO): DAT read: TxSync time:20:40:47.0349

2025-06-25T20:40:46.129Z,1750884046.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:46.138Z,1750884046.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:46.147Z,1750884046.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 445.191559 m,
      bearing: 239.178420 deg,
      approach rate: -0.756641 m/s,
      LOS rate: 0.009373 deg/s,
      cmd heading: 234.789802 deg,
      new cmd heading: 234.799765 deg.

2025-06-25T20:40:46.152Z,1750884046.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098029 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:46.209Z,1750884046.209 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:46.209Z,1750884046.209 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:46.209Z,1750884046.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:46.337Z,1750884046.337 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:40:46.461Z,1750884046.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743894
2025-06-25T20:40:46.545Z,1750884046.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:46.548Z,1750884046.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 444.890350 m,
      bearing: 239.183344 deg,
      approach rate: -0.739430 m/s,
      LOS rate: 0.012098 deg/s,
      cmd heading: 234.799774 deg,
      new cmd heading: 234.814559 deg.

2025-06-25T20:40:46.549Z,1750884046.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098287 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:46.713Z,1750884046.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995958
2025-06-25T20:40:46.938Z,1750884046.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:46.941Z,1750884046.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 444.614380 m,
      bearing: 239.187878 deg,
      approach rate: -0.702617 m/s,
      LOS rate: 0.011549 deg/s,
      cmd heading: 234.814554 deg,
      new cmd heading: 234.828163 deg.

2025-06-25T20:40:46.942Z,1750884046.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098525 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:46.966Z,1750884046.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248838
2025-06-25T20:40:47.217Z,1750884047.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500202
2025-06-25T20:40:47.393Z,1750884047.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:47.396Z,1750884047.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 444.297607 m,
      bearing: 239.193127 deg,
      approach rate: -0.695722 m/s,
      LOS rate: 0.011537 deg/s,
      cmd heading: 234.828160 deg,
      new cmd heading: 234.843918 deg.

2025-06-25T20:40:47.397Z,1750884047.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098800 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:47.469Z,1750884047.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752113
2025-06-25T20:40:47.721Z,1750884047.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003825
2025-06-25T20:40:47.834Z,1750884047.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:47.846Z,1750884047.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 443.998627 m,
      bearing: 239.198134 deg,
      approach rate: -0.677222 m/s,
      LOS rate: 0.011349 deg/s,
      cmd heading: 234.843924 deg,
      new cmd heading: 234.858955 deg.

2025-06-25T20:40:47.847Z,1750884047.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099062 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:47.973Z,1750884047.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255952
2025-06-25T20:40:48.225Z,1750884048.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508076
2025-06-25T20:40:48.231Z,1750884048.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:48.234Z,1750884048.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:48.273Z,1750884048.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 443.714081 m,
      bearing: 239.202946 deg,
      approach rate: -0.712894 m/s,
      LOS rate: 0.012063 deg/s,
      cmd heading: 234.858951 deg,
      new cmd heading: 234.873395 deg.

2025-06-25T20:40:48.274Z,1750884048.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099314 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:48.477Z,1750884048.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759949
2025-06-25T20:40:48.718Z,1750884048.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:48.721Z,1750884048.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 443.378693 m,
      bearing: 239.209456 deg,
      approach rate: -0.692725 m/s,
      LOS rate: 0.013457 deg/s,
      cmd heading: 234.873403 deg,
      new cmd heading: 234.892949 deg.

2025-06-25T20:40:48.722Z,1750884048.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099655 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:48.741Z,1750884048.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024379
2025-06-25T20:40:48.993Z,1750884048.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275902
2025-06-25T20:40:49.174Z,1750884049.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:49.177Z,1750884049.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 443.075043 m,
      bearing: 239.215322 deg,
      approach rate: -0.665728 m/s,
      LOS rate: 0.012868 deg/s,
      cmd heading: 234.892938 deg,
      new cmd heading: 234.910546 deg.

2025-06-25T20:40:49.178Z,1750884049.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099963 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:49.246Z,1750884049.246 [DAT](INFO): DAT read: Rx Time:20:40:50.0439

2025-06-25T20:40:49.246Z,1750884049.246 [DAT](INFO): Rx dataTimestamp_ set to:1750884049.245882
2025-06-25T20:40:49.247Z,1750884049.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530139
2025-06-25T20:40:49.497Z,1750884049.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779894
2025-06-25T20:40:49.590Z,1750884049.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:49.593Z,1750884049.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 442.776428 m,
      bearing: 239.221258 deg,
      approach rate: -0.718120 m/s,
      LOS rate: 0.014286 deg/s,
      cmd heading: 234.910560 deg,
      new cmd heading: 234.928381 deg.

2025-06-25T20:40:49.594Z,1750884049.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100274 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:49.753Z,1750884049.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034330
2025-06-25T20:40:49.982Z,1750884049.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.54 m.
2025-06-25T20:40:49.985Z,1750884049.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.538605 m,
      nav range: 442.504791 m,
      bearing: 239.226620 deg,
      approach rate: -0.692060 m/s,
      LOS rate: 0.013668 deg/s,
      cmd heading: 234.928373 deg,
      new cmd heading: 234.944467 deg.

2025-06-25T20:40:49.986Z,1750884049.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100554 target range: 451.538605 and range: 455.90 m.
2025-06-25T20:40:50.007Z,1750884050.007 [DAT](INFO): DAT read: 20:40:50.0439 LVL= 14288, 19217, 14194, 18931, AGC= 73, IDX= 509,-0.06,-0.256,-1.778,-0.257,-0.933, PHS= 0.765,-0.798, 0.674, RAW= 147.0,  -8.5, CAL= 153.2, -17.0, ROT= 356.8,  17.0

2025-06-25T20:40:50.008Z,1750884050.008 [DAT](INFO): got valid direction response:
 20:40:50.0439 LVL= 14288, 19217, 14194, 18931, AGC= 73, IDX= 509,-0.06,-0.256,-1.778,-0.257,-0.933, PHS= 0.765,-0.798, 0.674, RAW= 147.0,  -8.5, CAL= 153.2, -17.0, ROT= 356.8,  17.0

2025-06-25T20:40:50.010Z,1750884050.010 [DAT](INFO): DAT read: Bearing 356.8,  17.0 (Local)

2025-06-25T20:40:50.010Z,1750884050.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  17.0 (Local)

2025-06-25T20:40:50.012Z,1750884050.012 [DAT](INFO): DAT read: Range 10 to 50 : 453.0 m  (Round-trip  604.1 ms) speed  0.5 m/s

2025-06-25T20:40:50.012Z,1750884050.012 [DAT](INFO): DAT read: user:579>

2025-06-25T20:40:50.013Z,1750884050.013 [DAT](INFO): DAT read: Tx time:20:40:51.1357

2025-06-25T20:40:50.013Z,1750884050.013 [DAT](INFO): Ping request sent.
2025-06-25T20:40:50.014Z,1750884050.014 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:50.014Z,1750884050.014 [DAT](INFO): DAT read: TxSync time:20:40:51.1349

2025-06-25T20:40:50.015Z,1750884050.015 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:40:50.020Z,1750884050.020 [DAT](INFO): direction in FSK: [0.954814,-0.053383,-0.292372]
2025-06-25T20:40:50.021Z,1750884050.021 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:50.021Z,1750884050.021 [DAT](INFO): publishing direction and range info
2025-06-25T20:40:50.032Z,1750884050.032 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:50.032Z,1750884050.032 [DAT](INFO): publishing direction and range info
2025-06-25T20:40:50.457Z,1750884050.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 453.000000 m,
      deltaT: 4.295978 s,
      deltaX: -2.899994 m,
      approachRate: -0.675049 m/s,
      rangeRepo size: 4

2025-06-25T20:40:50.459Z,1750884050.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 448.667114 m,
      bearing: 232.870745 deg,
      lat: 36.906384 deg,
      lon: -122.116406 deg,
      deltaT: 4.295978 s,
      deltaX: -2.871490 m,
      approachRate: -0.668414 m/s,
      posRepo size: 4

2025-06-25T20:40:50.459Z,1750884050.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:50.462Z,1750884050.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 442.184357 m,
      bearing: 239.231708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013668 deg/s,
      cmd heading: 234.944465 deg,
      new cmd heading: 234.963884 deg.

2025-06-25T20:40:50.463Z,1750884050.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100893 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:50.777Z,1750884050.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:50.779Z,1750884050.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:50.798Z,1750884050.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 441.961121 m,
      bearing: 239.235264 deg,
      approach rate: -0.689748 m/s,
      LOS rate: 0.010993 deg/s,
      cmd heading: 234.963890 deg,
      new cmd heading: 234.974563 deg.

2025-06-25T20:40:50.799Z,1750884050.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101080 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:51.009Z,1750884051.009 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:51.009Z,1750884051.009 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:51.009Z,1750884051.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:51.241Z,1750884051.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:51.243Z,1750884051.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 441.646057 m,
      bearing: 239.240240 deg,
      approach rate: -0.682903 m/s,
      LOS rate: 0.010793 deg/s,
      cmd heading: 234.974572 deg,
      new cmd heading: 234.989510 deg.

2025-06-25T20:40:51.245Z,1750884051.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101341 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:51.261Z,1750884051.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247262
2025-06-25T20:40:51.513Z,1750884051.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499163
2025-06-25T20:40:51.630Z,1750884051.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:51.641Z,1750884051.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 441.380219 m,
      bearing: 239.244056 deg,
      approach rate: -0.683543 m/s,
      LOS rate: 0.009817 deg/s,
      cmd heading: 234.989517 deg,
      new cmd heading: 235.000971 deg.

2025-06-25T20:40:51.643Z,1750884051.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101541 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:51.766Z,1750884051.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752312
2025-06-25T20:40:52.017Z,1750884052.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003325
2025-06-25T20:40:52.024Z,1750884052.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:52.027Z,1750884052.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 441.124634 m,
      bearing: 239.247735 deg,
      approach rate: -0.648658 m/s,
      LOS rate: 0.009343 deg/s,
      cmd heading: 235.000964 deg,
      new cmd heading: 235.012008 deg.

2025-06-25T20:40:52.028Z,1750884052.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101733 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:52.269Z,1750884052.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255119
2025-06-25T20:40:52.470Z,1750884052.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:52.473Z,1750884052.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 440.801971 m,
      bearing: 239.251851 deg,
      approach rate: -0.723019 m/s,
      LOS rate: 0.009230 deg/s,
      cmd heading: 235.012001 deg,
      new cmd heading: 235.024358 deg.

2025-06-25T20:40:52.474Z,1750884052.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101949 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:52.521Z,1750884052.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507604
2025-06-25T20:40:52.773Z,1750884052.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759325
2025-06-25T20:40:52.817Z,1750884052.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:52.819Z,1750884052.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:52.822Z,1750884052.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 440.560455 m,
      bearing: 239.254969 deg,
      approach rate: -0.692517 m/s,
      LOS rate: 0.008947 deg/s,
      cmd heading: 235.024350 deg,
      new cmd heading: 235.033711 deg.

2025-06-25T20:40:52.823Z,1750884052.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102112 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:53.025Z,1750884053.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011666
2025-06-25T20:40:53.203Z,1750884053.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:53.206Z,1750884053.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 440.293976 m,
      bearing: 239.258450 deg,
      approach rate: -0.692802 m/s,
      LOS rate: 0.009055 deg/s,
      cmd heading: 235.033721 deg,
      new cmd heading: 235.044170 deg.

2025-06-25T20:40:53.207Z,1750884053.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102294 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:53.278Z,1750884053.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264524
2025-06-25T20:40:53.529Z,1750884053.529 [DAT](INFO): DAT read: Rx Time:20:40:54.1403

2025-06-25T20:40:53.529Z,1750884053.529 [DAT](INFO): Rx dataTimestamp_ set to:1750884053.529059
2025-06-25T20:40:53.530Z,1750884053.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516319
2025-06-25T20:40:53.641Z,1750884053.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:53.645Z,1750884053.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 440.000000 m,
      bearing: 239.261875 deg,
      approach rate: -0.673549 m/s,
      LOS rate: 0.007853 deg/s,
      cmd heading: 235.044158 deg,
      new cmd heading: 235.054440 deg.

2025-06-25T20:40:53.646Z,1750884053.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102474 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:53.781Z,1750884053.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767058
2025-06-25T20:40:54.006Z,1750884054.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:54.009Z,1750884054.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 439.750122 m,
      bearing: 239.264774 deg,
      approach rate: -0.682214 m/s,
      LOS rate: 0.007919 deg/s,
      cmd heading: 235.054431 deg,
      new cmd heading: 235.063132 deg.

2025-06-25T20:40:54.010Z,1750884054.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102625 target range: 448.667114 and range: 453.00 m.
2025-06-25T20:40:54.046Z,1750884054.046 [DAT](INFO): DAT read: Range 10 to 50 : 450.3 m  (Round-trip  600.4 ms) speed  0.5 m/s

2025-06-25T20:40:54.047Z,1750884054.047 [DAT](INFO): DAT read: user:580>

2025-06-25T20:40:54.049Z,1750884054.049 [DAT](INFO): DAT read: Tx time:20:40:55.2357

2025-06-25T20:40:54.050Z,1750884054.050 [DAT](INFO): Ping request sent.
2025-06-25T20:40:54.050Z,1750884054.050 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:54.050Z,1750884054.050 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:40:54.050Z,1750884054.050 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:54.051Z,1750884054.051 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:54.285Z,1750884054.285 [DAT](INFO): DAT read: TxSync time:20:40:55.2349

2025-06-25T20:40:54.492Z,1750884054.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.299988 m,
      deltaT: 4.034253 s,
      deltaX: -2.700012 m,
      approachRate: -0.669272 m/s,
      rangeRepo size: 4

2025-06-25T20:40:54.493Z,1750884054.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:54.495Z,1750884054.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 439.434509 m,
      bearing: 239.268416 deg,
      approach rate: -0.656233 m/s,
      LOS rate: 0.007578 deg/s,
      cmd heading: 235.063119 deg,
      new cmd heading: 235.074053 deg.

2025-06-25T20:40:54.510Z,1750884054.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102816 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:54.870Z,1750884054.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:54.872Z,1750884054.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:54.875Z,1750884054.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 439.164978 m,
      bearing: 239.271808 deg,
      approach rate: -0.700740 m/s,
      LOS rate: 0.008824 deg/s,
      cmd heading: 235.074047 deg,
      new cmd heading: 235.084229 deg.

2025-06-25T20:40:54.876Z,1750884054.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102994 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:55.041Z,1750884055.041 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:55.041Z,1750884055.041 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:55.041Z,1750884055.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:55.237Z,1750884055.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:55.244Z,1750884055.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 438.917938 m,
      bearing: 239.274924 deg,
      approach rate: -0.675803 m/s,
      LOS rate: 0.008530 deg/s,
      cmd heading: 235.084238 deg,
      new cmd heading: 235.093592 deg.

2025-06-25T20:40:55.246Z,1750884055.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103157 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:55.293Z,1750884055.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243839
2025-06-25T20:40:55.545Z,1750884055.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495165
2025-06-25T20:40:55.681Z,1750884055.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:55.689Z,1750884055.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 438.625336 m,
      bearing: 239.278801 deg,
      approach rate: -0.658924 m/s,
      LOS rate: 0.008736 deg/s,
      cmd heading: 235.093581 deg,
      new cmd heading: 235.105219 deg.

2025-06-25T20:40:55.693Z,1750884055.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103360 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:55.797Z,1750884055.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747334
2025-06-25T20:40:56.049Z,1750884056.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999310
2025-06-25T20:40:56.057Z,1750884056.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:56.060Z,1750884056.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 438.352020 m,
      bearing: 239.282427 deg,
      approach rate: -0.727441 m/s,
      LOS rate: 0.009657 deg/s,
      cmd heading: 235.105220 deg,
      new cmd heading: 235.116105 deg.

2025-06-25T20:40:56.061Z,1750884056.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103550 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:56.302Z,1750884056.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252298
2025-06-25T20:40:56.514Z,1750884056.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:56.521Z,1750884056.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 438.040741 m,
      bearing: 239.286563 deg,
      approach rate: -0.681114 m/s,
      LOS rate: 0.009058 deg/s,
      cmd heading: 235.116094 deg,
      new cmd heading: 235.128513 deg.

2025-06-25T20:40:56.522Z,1750884056.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103767 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:56.553Z,1750884056.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503437
2025-06-25T20:40:56.805Z,1750884056.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755167
2025-06-25T20:40:56.880Z,1750884056.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:56.882Z,1750884056.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:56.901Z,1750884056.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 437.780701 m,
      bearing: 239.289745 deg,
      approach rate: -0.706618 m/s,
      LOS rate: 0.008651 deg/s,
      cmd heading: 235.128525 deg,
      new cmd heading: 235.138075 deg.

2025-06-25T20:40:56.902Z,1750884056.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103934 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:57.057Z,1750884057.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007227
2025-06-25T20:40:57.282Z,1750884057.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:57.285Z,1750884057.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 437.503540 m,
      bearing: 239.293116 deg,
      approach rate: -0.693215 m/s,
      LOS rate: 0.008437 deg/s,
      cmd heading: 235.138087 deg,
      new cmd heading: 235.148206 deg.

2025-06-25T20:40:57.286Z,1750884057.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104110 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:57.309Z,1750884057.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259325
2025-06-25T20:40:57.561Z,1750884057.561 [DAT](INFO): DAT read: Rx Time:20:40:58.2363

2025-06-25T20:40:57.561Z,1750884057.561 [DAT](INFO): Rx dataTimestamp_ set to:1750884057.560996
2025-06-25T20:40:57.562Z,1750884057.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512285
2025-06-25T20:40:57.699Z,1750884057.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:57.706Z,1750884057.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 437.228607 m,
      bearing: 239.296355 deg,
      approach rate: -0.658935 m/s,
      LOS rate: 0.007767 deg/s,
      cmd heading: 235.148195 deg,
      new cmd heading: 235.157918 deg.

2025-06-25T20:40:57.707Z,1750884057.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104280 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:57.814Z,1750884057.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764568
2025-06-25T20:40:58.057Z,1750884058.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.67 m.
2025-06-25T20:40:58.059Z,1750884058.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.667114 m,
      nav range: 436.973022 m,
      bearing: 239.299367 deg,
      approach rate: -0.716343 m/s,
      LOS rate: 0.008447 deg/s,
      cmd heading: 235.157922 deg,
      new cmd heading: 235.166963 deg.

2025-06-25T20:40:58.061Z,1750884058.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104438 target range: 448.667114 and range: 450.30 m.
2025-06-25T20:40:58.071Z,1750884058.071 [DAT](INFO): DAT read: 20:40:58.2363 LVL= 29856, 24545, 24498, 32243, AGC= 72, IDX= 407,-0.06, 1.243,-0.297, 1.056, 0.545, PHS= 0.786,-0.795, 0.508, RAW= 140.5,  -6.9, CAL= 146.6, -16.5, ROT=   3.4,  16.5

2025-06-25T20:40:58.072Z,1750884058.072 [DAT](INFO): got valid direction response:
 20:40:58.2363 LVL= 29856, 24545, 24498, 32243, AGC= 72, IDX= 407,-0.06, 1.243,-0.297, 1.056, 0.545, PHS= 0.786,-0.795, 0.508, RAW= 140.5,  -6.9, CAL= 146.6, -16.5, ROT=   3.4,  16.5

2025-06-25T20:40:58.073Z,1750884058.073 [DAT](INFO): DAT read: Bearing   3.4,  16.5 (Local)

2025-06-25T20:40:58.073Z,1750884058.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  16.5 (Local)

2025-06-25T20:40:58.075Z,1750884058.075 [DAT](INFO): DAT read: Range 10 to 50 : 447.2 m  (Round-trip  596.3 ms) speed  0.6 m/s

2025-06-25T20:40:58.076Z,1750884058.076 [DAT](INFO): DAT read: user:581>

2025-06-25T20:40:58.076Z,1750884058.076 [DAT](INFO): DAT read: Tx time:20:40:59.3358

2025-06-25T20:40:58.077Z,1750884058.077 [DAT](INFO): Ping request sent.
2025-06-25T20:40:58.077Z,1750884058.077 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:40:58.077Z,1750884058.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:40:58.078Z,1750884058.078 [DAT](INFO): direction in FSK: [0.957132,0.056864,-0.284015]
2025-06-25T20:40:58.078Z,1750884058.078 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:58.079Z,1750884058.079 [DAT](INFO): publishing direction and range info
2025-06-25T20:40:58.090Z,1750884058.090 [DAT](INFO): publishing transmit ping time
2025-06-25T20:40:58.090Z,1750884058.090 [DAT](INFO): publishing direction and range info
2025-06-25T20:40:58.318Z,1750884058.318 [DAT](INFO): DAT read: TxSync time:20:40:59.3350

2025-06-25T20:40:58.563Z,1750884058.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 447.200012 m,
      deltaT: 4.029807 s,
      deltaX: -3.099976 m,
      approachRate: -0.769262 m/s,
      rangeRepo size: 4

2025-06-25T20:40:58.570Z,1750884058.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 442.923767 m,
      bearing: 239.221746 deg,
      lat: 36.906384 deg,
      lon: -122.116404 deg,
      deltaT: 8.064060 s,
      deltaX: -5.743347 m,
      approachRate: -0.712215 m/s,
      posRepo size: 4

2025-06-25T20:40:58.571Z,1750884058.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:40:58.578Z,1750884058.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 436.548431 m,
      bearing: 239.294485 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008447 deg/s,
      cmd heading: 235.166965 deg,
      new cmd heading: 235.179793 deg.

2025-06-25T20:40:58.579Z,1750884058.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104662 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:40:58.934Z,1750884058.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:40:58.940Z,1750884058.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:40:58.943Z,1750884058.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 436.267120 m,
      bearing: 239.298323 deg,
      approach rate: -0.743658 m/s,
      LOS rate: 0.010152 deg/s,
      cmd heading: 235.179806 deg,
      new cmd heading: 235.191327 deg.

2025-06-25T20:40:58.948Z,1750884058.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104863 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:40:59.072Z,1750884059.072 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:40:59.073Z,1750884059.073 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:40:59.073Z,1750884059.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:40:59.295Z,1750884059.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:40:59.298Z,1750884059.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 436.017212 m,
      bearing: 239.301741 deg,
      approach rate: -0.705241 m/s,
      LOS rate: 0.009653 deg/s,
      cmd heading: 235.191335 deg,
      new cmd heading: 235.201596 deg.

2025-06-25T20:40:59.299Z,1750884059.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105042 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:40:59.338Z,1750884059.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260726
2025-06-25T20:40:59.589Z,1750884059.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511997
2025-06-25T20:40:59.731Z,1750884059.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:40:59.734Z,1750884059.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 435.722015 m,
      bearing: 239.305570 deg,
      approach rate: -0.676431 m/s,
      LOS rate: 0.008778 deg/s,
      cmd heading: 235.201608 deg,
      new cmd heading: 235.213100 deg.

2025-06-25T20:40:59.735Z,1750884059.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105243 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:40:59.841Z,1750884059.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763952
2025-06-25T20:41:00.093Z,1750884060.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016259
2025-06-25T20:41:00.120Z,1750884060.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:41:00.123Z,1750884060.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 435.472198 m,
      bearing: 239.308794 deg,
      approach rate: -0.656025 m/s,
      LOS rate: 0.008470 deg/s,
      cmd heading: 235.213110 deg,
      new cmd heading: 235.222786 deg.

2025-06-25T20:41:00.128Z,1750884060.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105412 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:41:00.346Z,1750884060.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268317
2025-06-25T20:41:00.571Z,1750884060.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:41:00.578Z,1750884060.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 435.158569 m,
      bearing: 239.312823 deg,
      approach rate: -0.682531 m/s,
      LOS rate: 0.008776 deg/s,
      cmd heading: 235.222781 deg,
      new cmd heading: 235.234879 deg.

2025-06-25T20:41:00.579Z,1750884060.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105623 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:41:00.597Z,1750884060.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519991
2025-06-25T20:41:00.849Z,1750884060.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772255
2025-06-25T20:41:00.934Z,1750884060.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:41:00.937Z,1750884060.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 434.910095 m,
      bearing: 239.316434 deg,
      approach rate: -0.684956 m/s,
      LOS rate: 0.009960 deg/s,
      cmd heading: 235.234884 deg,
      new cmd heading: 235.245724 deg.

2025-06-25T20:41:00.938Z,1750884060.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105813 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:41:01.102Z,1750884061.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025000
2025-06-25T20:41:01.316Z,1750884061.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:01.318Z,1750884061.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:41:01.321Z,1750884061.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 434.652832 m,
      bearing: 239.320156 deg,
      approach rate: -0.669766 m/s,
      LOS rate: 0.009694 deg/s,
      cmd heading: 235.245731 deg,
      new cmd heading: 235.256901 deg.

2025-06-25T20:41:01.322Z,1750884061.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106008 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:41:01.353Z,1750884061.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276358
2025-06-25T20:41:01.605Z,1750884061.605 [DAT](INFO): DAT read: Rx Time:20:41:02.3327

2025-06-25T20:41:01.605Z,1750884061.605 [DAT](INFO): Rx dataTimestamp_ set to:1750884061.605029
2025-06-25T20:41:01.606Z,1750884061.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528962
2025-06-25T20:41:01.746Z,1750884061.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.92 m.
2025-06-25T20:41:01.749Z,1750884061.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.923767 m,
      nav range: 434.371521 m,
      bearing: 239.324111 deg,
      approach rate: -0.658175 m/s,
      LOS rate: 0.009261 deg/s,
      cmd heading: 235.256905 deg,
      new cmd heading: 235.268780 deg.

2025-06-25T20:41:01.750Z,1750884061.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106215 target range: 442.923767 and range: 447.20 m.
2025-06-25T20:41:01.857Z,1750884061.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780009
2025-06-25T20:41:02.115Z,1750884062.115 [DAT](INFO): DAT read: 20:41:02.3327 LVL= 18240, 21201, 18194, 24115, AGC= 75, IDX= 402,-0.22, 1.814, 0.394, 1.656, 1.181, PHS= 0.720,-0.741, 0.471, RAW= 140.8,  -6.7, CAL= 146.9, -16.3, ROT=   3.1,  16.3

2025-06-25T20:41:02.117Z,1750884062.117 [DAT](INFO): got valid direction response:
 20:41:02.3327 LVL= 18240, 21201, 18194, 24115, AGC= 75, IDX= 402,-0.22, 1.814, 0.394, 1.656, 1.181, PHS= 0.720,-0.741, 0.471, RAW= 140.8,  -6.7, CAL= 146.9, -16.3, ROT=   3.1,  16.3

2025-06-25T20:41:02.118Z,1750884062.118 [DAT](INFO): DAT read: Bearing   3.1,  16.3 (Local)

2025-06-25T20:41:02.118Z,1750884062.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  16.3 (Local)

2025-06-25T20:41:02.119Z,1750884062.119 [DAT](INFO): DAT read: Range 10 to 50 : 444.5 m  (Round-trip  592.7 ms) speed  0.6 m/s

2025-06-25T20:41:02.120Z,1750884062.120 [DAT](INFO): DAT read: user:582>

2025-06-25T20:41:02.121Z,1750884062.121 [DAT](INFO): DAT read: Tx time:20:41:03.4358

2025-06-25T20:41:02.121Z,1750884062.121 [DAT](INFO): Ping request sent.
2025-06-25T20:41:02.121Z,1750884062.121 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:02.122Z,1750884062.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:02.123Z,1750884062.123 [DAT](INFO): direction in FSK: [0.958401,0.051905,-0.280667]
2025-06-25T20:41:02.123Z,1750884062.123 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:02.123Z,1750884062.123 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:02.142Z,1750884062.142 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:02.143Z,1750884062.143 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:02.212Z,1750884062.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 444.500000 m,
      deltaT: 4.043892 s,
      deltaX: -2.700012 m,
      approachRate: -0.667677 m/s,
      rangeRepo size: 4

2025-06-25T20:41:02.214Z,1750884062.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 440.251068 m,
      bearing: 239.123388 deg,
      lat: 36.906384 deg,
      lon: -122.116387 deg,
      deltaT: 4.043892 s,
      deltaX: -2.672699 m,
      approachRate: -0.660922 m/s,
      posRepo size: 4

2025-06-25T20:41:02.215Z,1750884062.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:02.222Z,1750884062.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 432.773224 m,
      bearing: 239.225149 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009261 deg/s,
      cmd heading: 235.268789 deg,
      new cmd heading: 235.281601 deg.

2025-06-25T20:41:02.223Z,1750884062.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106439 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:02.361Z,1750884062.361 [DAT](INFO): DAT read: TxSync time:20:41:03.4350

2025-06-25T20:41:02.594Z,1750884062.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:02.596Z,1750884062.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 432.502899 m,
      bearing: 239.228895 deg,
      approach rate: -0.699187 m/s,
      LOS rate: 0.009696 deg/s,
      cmd heading: 235.281603 deg,
      new cmd heading: 235.292849 deg.

2025-06-25T20:41:02.597Z,1750884062.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106635 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:02.971Z,1750884062.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:02.974Z,1750884062.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 432.256683 m,
      bearing: 239.232542 deg,
      approach rate: -0.652786 m/s,
      LOS rate: 0.009674 deg/s,
      cmd heading: 235.292859 deg,
      new cmd heading: 235.303805 deg.

2025-06-25T20:41:02.975Z,1750884062.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106826 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:03.332Z,1750884063.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:03.334Z,1750884063.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:03.337Z,1750884063.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 432.008820 m,
      bearing: 239.236209 deg,
      approach rate: -0.681270 m/s,
      LOS rate: 0.010084 deg/s,
      cmd heading: 235.303814 deg,
      new cmd heading: 235.314820 deg.

2025-06-25T20:41:03.338Z,1750884063.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107018 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:03.385Z,1750884063.385 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:03.386Z,1750884063.386 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:03.386Z,1750884063.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:03.638Z,1750884063.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515928
2025-06-25T20:41:03.794Z,1750884063.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:03.801Z,1750884063.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 431.717743 m,
      bearing: 239.240300 deg,
      approach rate: -0.632947 m/s,
      LOS rate: 0.008903 deg/s,
      cmd heading: 235.314825 deg,
      new cmd heading: 235.327107 deg.

2025-06-25T20:41:03.802Z,1750884063.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107233 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:03.889Z,1750884063.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767376
2025-06-25T20:41:04.142Z,1750884064.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020362
2025-06-25T20:41:04.250Z,1750884064.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:04.261Z,1750884064.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 431.415314 m,
      bearing: 239.244631 deg,
      approach rate: -0.663146 m/s,
      LOS rate: 0.009503 deg/s,
      cmd heading: 235.327119 deg,
      new cmd heading: 235.340121 deg.

2025-06-25T20:41:04.262Z,1750884064.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107460 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:04.393Z,1750884064.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271442
2025-06-25T20:41:04.646Z,1750884064.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524597
2025-06-25T20:41:04.771Z,1750884064.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:04.778Z,1750884064.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 431.060425 m,
      bearing: 239.249352 deg,
      approach rate: -0.681737 m/s,
      LOS rate: 0.009077 deg/s,
      cmd heading: 235.340124 deg,
      new cmd heading: 235.354299 deg.

2025-06-25T20:41:04.779Z,1750884064.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107708 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:04.897Z,1750884064.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775453
2025-06-25T20:41:05.149Z,1750884065.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027977
2025-06-25T20:41:05.237Z,1750884065.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:05.239Z,1750884065.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 430.729767 m,
      bearing: 239.253671 deg,
      approach rate: -0.710243 m/s,
      LOS rate: 0.009284 deg/s,
      cmd heading: 235.354303 deg,
      new cmd heading: 235.367270 deg.

2025-06-25T20:41:05.241Z,1750884065.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107934 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:05.402Z,1750884065.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280521
2025-06-25T20:41:05.654Z,1750884065.654 [DAT](INFO): DAT read: Rx Time:20:41:06.4289

2025-06-25T20:41:05.654Z,1750884065.654 [DAT](INFO): Rx dataTimestamp_ set to:1750884065.654040
2025-06-25T20:41:05.655Z,1750884065.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533538
2025-06-25T20:41:05.740Z,1750884065.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:05.742Z,1750884065.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:05.745Z,1750884065.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 430.396149 m,
      bearing: 239.257681 deg,
      approach rate: -0.659764 m/s,
      LOS rate: 0.007936 deg/s,
      cmd heading: 235.367281 deg,
      new cmd heading: 235.379320 deg.

2025-06-25T20:41:05.746Z,1750884065.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108144 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:05.905Z,1750884065.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783459
2025-06-25T20:41:06.088Z,1750884066.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:06.091Z,1750884066.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 430.150940 m,
      bearing: 239.260617 deg,
      approach rate: -0.708217 m/s,
      LOS rate: 0.008485 deg/s,
      cmd heading: 235.379329 deg,
      new cmd heading: 235.388142 deg.

2025-06-25T20:41:06.092Z,1750884066.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108298 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:06.171Z,1750884066.171 [DAT](INFO): DAT read: 20:41:06.4289 LVL= 16240, 25953, 18322, 30387, AGC= 72, IDX= 394, 0.41, 0.788,-0.732, 0.517, 0.006, PHS= 0.870,-0.691, 0.508, RAW= 137.2,  -9.7, CAL= 143.4, -20.4, ROT=   6.6,  20.4

2025-06-25T20:41:06.176Z,1750884066.176 [DAT](INFO): got valid direction response:
 20:41:06.4289 LVL= 16240, 25953, 18322, 30387, AGC= 72, IDX= 394, 0.41, 0.788,-0.732, 0.517, 0.006, PHS= 0.870,-0.691, 0.508, RAW= 137.2,  -9.7, CAL= 143.4, -20.4, ROT=   6.6,  20.4

2025-06-25T20:41:06.177Z,1750884066.177 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:41:06.177Z,1750884066.177 [DAT](INFO): Received a bad header
2025-06-25T20:41:06.192Z,1750884066.192 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:41:06.193Z,1750884066.193 [DAT](INFO): direction in FSK: [0.931070,0.107729,-0.348572]
2025-06-25T20:41:06.197Z,1750884066.197 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:06.197Z,1750884066.197 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:06.197Z,1750884066.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:06.409Z,1750884066.409 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:06.409Z,1750884066.409 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:06.409Z,1750884066.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:06.482Z,1750884066.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:06.485Z,1750884066.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 429.884216 m,
      bearing: 239.263799 deg,
      approach rate: -0.677929 m/s,
      LOS rate: 0.008093 deg/s,
      cmd heading: 235.388154 deg,
      new cmd heading: 235.397706 deg.

2025-06-25T20:41:06.486Z,1750884066.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108465 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:06.661Z,1750884066.661 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:06.661Z,1750884066.661 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:06.661Z,1750884066.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:06.913Z,1750884066.913 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:06.913Z,1750884066.913 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:06.913Z,1750884066.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:06.922Z,1750884066.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:06.933Z,1750884066.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 429.596069 m,
      bearing: 239.267077 deg,
      approach rate: -0.655113 m/s,
      LOS rate: 0.007457 deg/s,
      cmd heading: 235.397716 deg,
      new cmd heading: 235.407556 deg.

2025-06-25T20:41:06.934Z,1750884066.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108637 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:07.165Z,1750884067.165 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:07.165Z,1750884067.165 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:07.165Z,1750884067.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:07.300Z,1750884067.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:07.302Z,1750884067.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 429.315582 m,
      bearing: 239.270274 deg,
      approach rate: -0.742389 m/s,
      LOS rate: 0.008467 deg/s,
      cmd heading: 235.407551 deg,
      new cmd heading: 235.417148 deg.

2025-06-25T20:41:07.303Z,1750884067.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108804 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:07.417Z,1750884067.417 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:07.417Z,1750884067.417 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:07.417Z,1750884067.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:07.669Z,1750884067.669 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:07.669Z,1750884067.669 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:07.669Z,1750884067.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:07.731Z,1750884067.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:07.734Z,1750884067.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 429.013641 m,
      bearing: 239.273312 deg,
      approach rate: -0.700054 m/s,
      LOS rate: 0.007048 deg/s,
      cmd heading: 235.417141 deg,
      new cmd heading: 235.426261 deg.

2025-06-25T20:41:07.735Z,1750884067.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108963 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:07.921Z,1750884067.921 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:07.921Z,1750884067.921 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:07.921Z,1750884067.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:08.114Z,1750884068.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:08.121Z,1750884068.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:08.123Z,1750884068.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 428.749420 m,
      bearing: 239.275977 deg,
      approach rate: -0.677923 m/s,
      LOS rate: 0.006844 deg/s,
      cmd heading: 235.426266 deg,
      new cmd heading: 235.434268 deg.

2025-06-25T20:41:08.148Z,1750884068.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109103 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:08.173Z,1750884068.173 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:08.173Z,1750884068.173 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:08.173Z,1750884068.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:08.425Z,1750884068.425 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:08.425Z,1750884068.425 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:08.425Z,1750884068.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:08.503Z,1750884068.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:08.514Z,1750884068.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 428.472961 m,
      bearing: 239.278768 deg,
      approach rate: -0.722655 m/s,
      LOS rate: 0.007299 deg/s,
      cmd heading: 235.434271 deg,
      new cmd heading: 235.442647 deg.

2025-06-25T20:41:08.515Z,1750884068.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109250 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:08.677Z,1750884068.677 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:08.677Z,1750884068.677 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:08.677Z,1750884068.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:08.923Z,1750884068.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:08.926Z,1750884068.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 428.175995 m,
      bearing: 239.281693 deg,
      approach rate: -0.707139 m/s,
      LOS rate: 0.006971 deg/s,
      cmd heading: 235.442659 deg,
      new cmd heading: 235.451441 deg.

2025-06-25T20:41:08.927Z,1750884068.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109403 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:08.929Z,1750884068.929 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:08.929Z,1750884068.929 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:08.929Z,1750884068.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:09.181Z,1750884069.181 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:09.181Z,1750884069.181 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:09.181Z,1750884069.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:09.307Z,1750884069.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:09.310Z,1750884069.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 427.904236 m,
      bearing: 239.284381 deg,
      approach rate: -0.707185 m/s,
      LOS rate: 0.007000 deg/s,
      cmd heading: 235.451429 deg,
      new cmd heading: 235.459498 deg.

2025-06-25T20:41:09.311Z,1750884069.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109543 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:09.433Z,1750884069.433 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:09.433Z,1750884069.433 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:09.433Z,1750884069.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:09.684Z,1750884069.684 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:09.685Z,1750884069.685 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:09.685Z,1750884069.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:09.738Z,1750884069.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:09.757Z,1750884069.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 427.603027 m,
      bearing: 239.287510 deg,
      approach rate: -0.699865 m/s,
      LOS rate: 0.007274 deg/s,
      cmd heading: 235.459488 deg,
      new cmd heading: 235.468879 deg.

2025-06-25T20:41:09.758Z,1750884069.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109707 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:09.936Z,1750884069.936 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:09.937Z,1750884069.937 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:09.937Z,1750884069.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:10.122Z,1750884070.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:10.124Z,1750884070.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:10.127Z,1750884070.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 427.333008 m,
      bearing: 239.290312 deg,
      approach rate: -0.699328 m/s,
      LOS rate: 0.007261 deg/s,
      cmd heading: 235.468887 deg,
      new cmd heading: 235.477298 deg.

2025-06-25T20:41:10.128Z,1750884070.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109854 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:10.189Z,1750884070.189 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:10.189Z,1750884070.189 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:10.189Z,1750884070.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:10.440Z,1750884070.440 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:10.441Z,1750884070.441 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:10.441Z,1750884070.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:10.522Z,1750884070.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:10.525Z,1750884070.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 427.053986 m,
      bearing: 239.293207 deg,
      approach rate: -0.700338 m/s,
      LOS rate: 0.007273 deg/s,
      cmd heading: 235.477301 deg,
      new cmd heading: 235.485994 deg.

2025-06-25T20:41:10.526Z,1750884070.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110006 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:10.695Z,1750884070.695 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:10.695Z,1750884070.695 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:10.695Z,1750884070.695 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:10.945Z,1750884070.945 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:10.945Z,1750884070.945 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:10.945Z,1750884070.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:10.951Z,1750884070.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:10.956Z,1750884070.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 426.765839 m,
      bearing: 239.296535 deg,
      approach rate: -0.672582 m/s,
      LOS rate: 0.007774 deg/s,
      cmd heading: 235.485989 deg,
      new cmd heading: 235.495980 deg.

2025-06-25T20:41:10.958Z,1750884070.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110180 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:11.197Z,1750884071.197 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:11.197Z,1750884071.197 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:11.197Z,1750884071.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:11.348Z,1750884071.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:11.350Z,1750884071.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 426.499756 m,
      bearing: 239.299606 deg,
      approach rate: -0.705921 m/s,
      LOS rate: 0.008152 deg/s,
      cmd heading: 235.495989 deg,
      new cmd heading: 235.505206 deg.

2025-06-25T20:41:11.351Z,1750884071.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110341 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:11.449Z,1750884071.449 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:11.449Z,1750884071.449 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:11.449Z,1750884071.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:11.703Z,1750884071.703 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:11.703Z,1750884071.703 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:11.703Z,1750884071.703 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:11.790Z,1750884071.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:11.797Z,1750884071.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 426.202484 m,
      bearing: 239.303608 deg,
      approach rate: -0.643540 m/s,
      LOS rate: 0.008670 deg/s,
      cmd heading: 235.505196 deg,
      new cmd heading: 235.517211 deg.

2025-06-25T20:41:11.797Z,1750884071.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110551 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:11.952Z,1750884071.952 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:11.953Z,1750884071.953 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:11.953Z,1750884071.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:41:12.138Z,1750884072.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:12.140Z,1750884072.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:12.143Z,1750884072.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 425.953522 m,
      bearing: 239.306947 deg,
      approach rate: -0.710645 m/s,
      LOS rate: 0.009537 deg/s,
      cmd heading: 235.517217 deg,
      new cmd heading: 235.527240 deg.

2025-06-25T20:41:12.144Z,1750884072.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110726 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:12.205Z,1750884072.205 [DAT](INFO): Reached modem response timeout
2025-06-25T20:41:12.205Z,1750884072.205 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:41:12.205Z,1750884072.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:12.456Z,1750884072.456 [DAT](INFO): Reached modem response timeout
2025-06-25T20:41:12.457Z,1750884072.457 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:41:12.457Z,1750884072.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:12.555Z,1750884072.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:12.558Z,1750884072.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 425.673889 m,
      bearing: 239.310694 deg,
      approach rate: -0.673241 m/s,
      LOS rate: 0.009026 deg/s,
      cmd heading: 235.527244 deg,
      new cmd heading: 235.538491 deg.

2025-06-25T20:41:12.559Z,1750884072.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110922 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:12.710Z,1750884072.710 [DAT](INFO): Reached modem response timeout
2025-06-25T20:41:12.711Z,1750884072.711 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:41:12.712Z,1750884072.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:12.962Z,1750884072.962 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:41:12.963Z,1750884072.963 [DAT](INFO): response not received
2025-06-25T20:41:12.963Z,1750884072.963 [DAT](INFO): DAT read: user:584>

2025-06-25T20:41:12.964Z,1750884072.964 [DAT](ERROR): No response from remote modem.
2025-06-25T20:41:12.964Z,1750884072.964 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:41:12.964Z,1750884072.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:12.975Z,1750884072.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:13.009Z,1750884073.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 425.394958 m,
      bearing: 239.314485 deg,
      approach rate: -0.664857 m/s,
      LOS rate: 0.009043 deg/s,
      cmd heading: 235.538500 deg,
      new cmd heading: 235.549882 deg.

2025-06-25T20:41:13.010Z,1750884073.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111121 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:13.214Z,1750884073.214 [DAT](INFO): DAT read: Tx time:20:41:14.3859

2025-06-25T20:41:13.214Z,1750884073.214 [DAT](INFO): Ping request sent.
2025-06-25T20:41:13.215Z,1750884073.215 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:13.216Z,1750884073.216 [DAT](INFO): DAT read: TxSync time:20:41:14.3851

2025-06-25T20:41:13.217Z,1750884073.217 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:13.217Z,1750884073.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002900
2025-06-25T20:41:13.345Z,1750884073.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:13.347Z,1750884073.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 425.141174 m,
      bearing: 239.317952 deg,
      approach rate: -0.686326 m/s,
      LOS rate: 0.009379 deg/s,
      cmd heading: 235.549893 deg,
      new cmd heading: 235.560297 deg.

2025-06-25T20:41:13.348Z,1750884073.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111303 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:13.465Z,1750884073.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250601
2025-06-25T20:41:13.722Z,1750884073.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506834
2025-06-25T20:41:13.791Z,1750884073.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:13.813Z,1750884073.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 424.834869 m,
      bearing: 239.322411 deg,
      approach rate: -0.687854 m/s,
      LOS rate: 0.010021 deg/s,
      cmd heading: 235.560302 deg,
      new cmd heading: 235.573688 deg.

2025-06-25T20:41:13.814Z,1750884073.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111537 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:13.969Z,1750884073.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754255
2025-06-25T20:41:14.151Z,1750884074.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:14.153Z,1750884074.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:14.156Z,1750884074.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 424.584595 m,
      bearing: 239.326078 deg,
      approach rate: -0.688623 m/s,
      LOS rate: 0.010098 deg/s,
      cmd heading: 235.573689 deg,
      new cmd heading: 235.584699 deg.

2025-06-25T20:41:14.157Z,1750884074.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111729 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:14.221Z,1750884074.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006316
2025-06-25T20:41:14.473Z,1750884074.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258175
2025-06-25T20:41:14.569Z,1750884074.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:14.571Z,1750884074.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 424.309662 m,
      bearing: 239.330156 deg,
      approach rate: -0.661956 m/s,
      LOS rate: 0.009823 deg/s,
      cmd heading: 235.584699 deg,
      new cmd heading: 235.596939 deg.

2025-06-25T20:41:14.572Z,1750884074.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111942 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:14.727Z,1750884074.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512348
2025-06-25T20:41:14.980Z,1750884074.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765584
2025-06-25T20:41:14.990Z,1750884074.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:14.993Z,1750884074.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 424.020172 m,
      bearing: 239.334410 deg,
      approach rate: -0.687567 m/s,
      LOS rate: 0.010112 deg/s,
      cmd heading: 235.596939 deg,
      new cmd heading: 235.609711 deg.

2025-06-25T20:41:14.994Z,1750884074.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112165 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:15.229Z,1750884075.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014399
2025-06-25T20:41:15.368Z,1750884075.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:15.376Z,1750884075.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 423.762238 m,
      bearing: 239.338250 deg,
      approach rate: -0.682469 m/s,
      LOS rate: 0.010165 deg/s,
      cmd heading: 235.609698 deg,
      new cmd heading: 235.621223 deg.

2025-06-25T20:41:15.377Z,1750884075.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112366 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:15.481Z,1750884075.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266526
2025-06-25T20:41:15.735Z,1750884075.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520421
2025-06-25T20:41:15.834Z,1750884075.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:15.837Z,1750884075.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 423.448303 m,
      bearing: 239.343076 deg,
      approach rate: -0.673648 m/s,
      LOS rate: 0.010364 deg/s,
      cmd heading: 235.621227 deg,
      new cmd heading: 235.635716 deg.

2025-06-25T20:41:15.838Z,1750884075.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112619 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:15.985Z,1750884075.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770189
2025-06-25T20:41:16.199Z,1750884076.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:16.201Z,1750884076.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:16.204Z,1750884076.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 423.206787 m,
      bearing: 239.346794 deg,
      approach rate: -0.656665 m/s,
      LOS rate: 0.010114 deg/s,
      cmd heading: 235.635707 deg,
      new cmd heading: 235.646866 deg.

2025-06-25T20:41:16.205Z,1750884076.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112813 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:16.250Z,1750884076.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035682
2025-06-25T20:41:16.459Z,1750884076.459 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:41:16.501Z,1750884076.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286151
2025-06-25T20:41:16.598Z,1750884076.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:16.602Z,1750884076.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 422.940277 m,
      bearing: 239.350866 deg,
      approach rate: -0.676770 m/s,
      LOS rate: 0.010349 deg/s,
      cmd heading: 235.646854 deg,
      new cmd heading: 235.659080 deg.

2025-06-25T20:41:16.605Z,1750884076.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113027 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:16.756Z,1750884076.756 [DAT](INFO): DAT read: Rx Time:20:41:17.3687

2025-06-25T20:41:16.757Z,1750884076.757 [DAT](INFO): Rx dataTimestamp_ set to:1750884076.756757
2025-06-25T20:41:16.759Z,1750884076.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544145
2025-06-25T20:41:17.005Z,1750884077.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790140
2025-06-25T20:41:17.029Z,1750884077.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.25 m.
2025-06-25T20:41:17.036Z,1750884077.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.251068 m,
      nav range: 422.657196 m,
      bearing: 239.354053 deg,
      approach rate: -0.652820 m/s,
      LOS rate: 0.007354 deg/s,
      cmd heading: 235.659094 deg,
      new cmd heading: 235.668661 deg.

2025-06-25T20:41:17.037Z,1750884077.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113194 target range: 440.251068 and range: 444.50 m.
2025-06-25T20:41:17.263Z,1750884077.263 [DAT](INFO): DAT read: 20:41:17.3687 LVL= 21968, 24225, 21746, 31219, AGC= 70, IDX= 354,-0.06, 0.981,-0.456, 0.789, 0.224, PHS= 0.846,-0.633, 0.562, RAW= 139.6, -11.4, CAL= 146.0, -21.2, ROT=   4.0,  21.2

2025-06-25T20:41:17.264Z,1750884077.264 [DAT](INFO): got valid direction response:
 20:41:17.3687 LVL= 21968, 24225, 21746, 31219, AGC= 70, IDX= 354,-0.06, 0.981,-0.456, 0.789, 0.224, PHS= 0.846,-0.633, 0.562, RAW= 139.6, -11.4, CAL= 146.0, -21.2, ROT=   4.0,  21.2

2025-06-25T20:41:17.265Z,1750884077.265 [DAT](INFO): DAT read: Bearing   4.0,  21.2 (Local)

2025-06-25T20:41:17.265Z,1750884077.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.0,  21.2 (Local)

2025-06-25T20:41:17.267Z,1750884077.267 [DAT](INFO): DAT read: Range 10 to 50 : 434.0 m  (Round-trip  578.7 ms) speed  0.6 m/s

2025-06-25T20:41:17.267Z,1750884077.267 [DAT](INFO): DAT read: user:585>

2025-06-25T20:41:17.268Z,1750884077.268 [DAT](INFO): DAT read: Tx time:20:41:18.4859

2025-06-25T20:41:17.269Z,1750884077.269 [DAT](INFO): Ping request sent.
2025-06-25T20:41:17.269Z,1750884077.269 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:17.269Z,1750884077.269 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:17.270Z,1750884077.270 [DAT](INFO): direction in FSK: [0.930053,0.065036,-0.361625]
2025-06-25T20:41:17.270Z,1750884077.270 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:17.271Z,1750884077.271 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:17.274Z,1750884077.274 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:17.274Z,1750884077.274 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:17.431Z,1750884077.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 434.000000 m,
      deltaT: 15.148006 s,
      deltaX: -10.500000 m,
      approachRate: -0.693161 m/s,
      rangeRepo size: 4

2025-06-25T20:41:17.438Z,1750884077.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 429.855621 m,
      bearing: 240.314791 deg,
      lat: 36.906387 deg,
      lon: -122.116387 deg,
      deltaT: 15.148006 s,
      deltaX: -10.395447 m,
      approachRate: -0.686258 m/s,
      posRepo size: 4

2025-06-25T20:41:17.439Z,1750884077.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:17.442Z,1750884077.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 422.209625 m,
      bearing: 239.396469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007354 deg/s,
      cmd heading: 235.668656 deg,
      new cmd heading: 235.677521 deg.

2025-06-25T20:41:17.443Z,1750884077.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113348 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:17.460Z,1750884077.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:41:17.510Z,1750884077.510 [DAT](INFO): DAT read: TxSync time:20:41:18.4851

2025-06-25T20:41:17.875Z,1750884077.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:17.881Z,1750884077.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 421.906067 m,
      bearing: 239.400571 deg,
      approach rate: -0.684075 m/s,
      LOS rate: 0.009250 deg/s,
      cmd heading: 235.677508 deg,
      new cmd heading: 235.689822 deg.

2025-06-25T20:41:17.882Z,1750884077.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113564 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:18.206Z,1750884078.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:18.208Z,1750884078.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:18.211Z,1750884078.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 421.664825 m,
      bearing: 239.403920 deg,
      approach rate: -0.722273 m/s,
      LOS rate: 0.010033 deg/s,
      cmd heading: 235.689829 deg,
      new cmd heading: 235.699883 deg.

2025-06-25T20:41:18.212Z,1750884078.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113739 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:18.265Z,1750884078.265 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:18.266Z,1750884078.266 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:18.266Z,1750884078.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:18.517Z,1750884078.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247901
2025-06-25T20:41:18.675Z,1750884078.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:18.679Z,1750884078.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 421.347382 m,
      bearing: 239.408394 deg,
      approach rate: -0.680410 m/s,
      LOS rate: 0.009597 deg/s,
      cmd heading: 235.699884 deg,
      new cmd heading: 235.713316 deg.

2025-06-25T20:41:18.680Z,1750884078.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113974 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:18.772Z,1750884078.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502355
2025-06-25T20:41:19.021Z,1750884079.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752229
2025-06-25T20:41:19.059Z,1750884079.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:19.062Z,1750884079.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 421.084961 m,
      bearing: 239.411619 deg,
      approach rate: -0.683845 m/s,
      LOS rate: 0.008407 deg/s,
      cmd heading: 235.713325 deg,
      new cmd heading: 235.723004 deg.

2025-06-25T20:41:19.063Z,1750884079.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114142 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:19.273Z,1750884079.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003993
2025-06-25T20:41:19.442Z,1750884079.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:19.449Z,1750884079.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 420.834686 m,
      bearing: 239.414677 deg,
      approach rate: -0.652637 m/s,
      LOS rate: 0.007979 deg/s,
      cmd heading: 235.722997 deg,
      new cmd heading: 235.732177 deg.

2025-06-25T20:41:19.450Z,1750884079.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114303 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:19.526Z,1750884079.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256823
2025-06-25T20:41:19.785Z,1750884079.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515917
2025-06-25T20:41:19.915Z,1750884079.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:19.918Z,1750884079.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 420.506042 m,
      bearing: 239.418892 deg,
      approach rate: -0.694494 m/s,
      LOS rate: 0.008915 deg/s,
      cmd heading: 235.732177 deg,
      new cmd heading: 235.744833 deg.

2025-06-25T20:41:19.919Z,1750884079.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114523 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:20.033Z,1750884080.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764053
2025-06-25T20:41:20.214Z,1750884080.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:20.216Z,1750884080.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:20.219Z,1750884080.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 420.304199 m,
      bearing: 239.421441 deg,
      approach rate: -0.670977 m/s,
      LOS rate: 0.008479 deg/s,
      cmd heading: 235.744826 deg,
      new cmd heading: 235.752478 deg.

2025-06-25T20:41:20.220Z,1750884080.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114657 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:20.286Z,1750884080.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016485
2025-06-25T20:41:20.537Z,1750884080.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267884
2025-06-25T20:41:20.637Z,1750884080.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:20.646Z,1750884080.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 420.032379 m,
      bearing: 239.424857 deg,
      approach rate: -0.647037 m/s,
      LOS rate: 0.008136 deg/s,
      cmd heading: 235.752476 deg,
      new cmd heading: 235.762729 deg.

2025-06-25T20:41:20.647Z,1750884080.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114836 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:20.792Z,1750884080.792 [DAT](INFO): DAT read: Rx Time:20:41:21.4651

2025-06-25T20:41:20.793Z,1750884080.793 [DAT](INFO): Rx dataTimestamp_ set to:1750884080.792400
2025-06-25T20:41:20.795Z,1750884080.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525700
2025-06-25T20:41:21.041Z,1750884081.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771963
2025-06-25T20:41:21.066Z,1750884081.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.86 m.
2025-06-25T20:41:21.069Z,1750884081.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.855621 m,
      nav range: 419.733429 m,
      bearing: 239.428737 deg,
      approach rate: -0.695327 m/s,
      LOS rate: 0.009032 deg/s,
      cmd heading: 235.762721 deg,
      new cmd heading: 235.774370 deg.

2025-06-25T20:41:21.070Z,1750884081.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115039 target range: 429.855621 and range: 434.00 m.
2025-06-25T20:41:21.302Z,1750884081.302 [DAT](INFO): DAT read: 20:41:21.4651 LVL= 19024, 25921, 20114, 32755, AGC= 69, IDX= 396, 0.35,-2.868, 1.901,-3.039, 2.726, PHS= 0.777,-0.778, 0.515, RAW= 140.9,  -7.2, CAL= 147.1, -16.8, ROT=   2.9,  16.8

2025-06-25T20:41:21.303Z,1750884081.303 [DAT](INFO): got valid direction response:
 20:41:21.4651 LVL= 19024, 25921, 20114, 32755, AGC= 69, IDX= 396, 0.35,-2.868, 1.901,-3.039, 2.726, PHS= 0.777,-0.778, 0.515, RAW= 140.9,  -7.2, CAL= 147.1, -16.8, ROT=   2.9,  16.8

2025-06-25T20:41:21.304Z,1750884081.304 [DAT](INFO): DAT read: Bearing   2.9,  16.8 (Local)

2025-06-25T20:41:21.304Z,1750884081.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  16.8 (Local)

2025-06-25T20:41:21.306Z,1750884081.306 [DAT](INFO): DAT read: Range 10 to 50 : 431.2 m  (Round-trip  575.0 ms) speed  0.7 m/s

2025-06-25T20:41:21.306Z,1750884081.306 [DAT](INFO): DAT read: user:586>

2025-06-25T20:41:21.307Z,1750884081.307 [DAT](INFO): DAT read: Tx time:20:41:22.5859

2025-06-25T20:41:21.307Z,1750884081.307 [DAT](INFO): Ping request sent.
2025-06-25T20:41:21.320Z,1750884081.320 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:21.320Z,1750884081.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:21.321Z,1750884081.321 [DAT](INFO): direction in FSK: [0.956094,0.048434,-0.289032]
2025-06-25T20:41:21.321Z,1750884081.321 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:21.322Z,1750884081.322 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:21.329Z,1750884081.329 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:21.329Z,1750884081.329 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:21.461Z,1750884081.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 431.200012 m,
      deltaT: 4.038781 s,
      deltaX: -2.799988 m,
      approachRate: -0.693275 m/s,
      rangeRepo size: 4

2025-06-25T20:41:21.463Z,1750884081.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 427.084839 m,
      bearing: 238.960700 deg,
      lat: 36.906376 deg,
      lon: -122.116387 deg,
      deltaT: 4.038781 s,
      deltaX: -2.770782 m,
      approachRate: -0.686044 m/s,
      posRepo size: 4

2025-06-25T20:41:21.468Z,1750884081.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:21.471Z,1750884081.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 420.106720 m,
      bearing: 239.288900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009032 deg/s,
      cmd heading: 235.774360 deg,
      new cmd heading: 235.784917 deg.

2025-06-25T20:41:21.480Z,1750884081.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115223 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:21.546Z,1750884081.546 [DAT](INFO): DAT read: TxSync time:20:41:22.5851

2025-06-25T20:41:21.903Z,1750884081.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:21.906Z,1750884081.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 419.795593 m,
      bearing: 239.292970 deg,
      approach rate: -0.696521 m/s,
      LOS rate: 0.009118 deg/s,
      cmd heading: 235.784906 deg,
      new cmd heading: 235.797125 deg.

2025-06-25T20:41:21.906Z,1750884081.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115436 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:22.286Z,1750884082.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:22.292Z,1750884082.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:22.295Z,1750884082.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 419.563812 m,
      bearing: 239.295970 deg,
      approach rate: -0.601457 m/s,
      LOS rate: 0.007788 deg/s,
      cmd heading: 235.797118 deg,
      new cmd heading: 235.806122 deg.

2025-06-25T20:41:22.301Z,1750884082.301 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:22.301Z,1750884082.301 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:22.301Z,1750884082.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:22.303Z,1750884082.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115593 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:22.553Z,1750884082.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245287
2025-06-25T20:41:22.651Z,1750884082.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:22.655Z,1750884082.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 419.293427 m,
      bearing: 239.299456 deg,
      approach rate: -0.745628 m/s,
      LOS rate: 0.009621 deg/s,
      cmd heading: 235.806134 deg,
      new cmd heading: 235.816600 deg.

2025-06-25T20:41:22.657Z,1750884082.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115776 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:22.805Z,1750884082.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497564
2025-06-25T20:41:23.057Z,1750884083.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749350
2025-06-25T20:41:23.082Z,1750884083.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:23.085Z,1750884083.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 419.004974 m,
      bearing: 239.303669 deg,
      approach rate: -0.668122 m/s,
      LOS rate: 0.009765 deg/s,
      cmd heading: 235.816598 deg,
      new cmd heading: 235.829245 deg.

2025-06-25T20:41:23.086Z,1750884083.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115997 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:23.309Z,1750884083.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001445
2025-06-25T20:41:23.460Z,1750884083.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:23.463Z,1750884083.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 418.763794 m,
      bearing: 239.307169 deg,
      approach rate: -0.639129 m/s,
      LOS rate: 0.009281 deg/s,
      cmd heading: 235.829247 deg,
      new cmd heading: 235.839754 deg.

2025-06-25T20:41:23.464Z,1750884083.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116180 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:23.561Z,1750884083.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253298
2025-06-25T20:41:23.814Z,1750884083.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505645
2025-06-25T20:41:23.946Z,1750884083.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:23.949Z,1750884083.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 418.433319 m,
      bearing: 239.311977 deg,
      approach rate: -0.679531 m/s,
      LOS rate: 0.009894 deg/s,
      cmd heading: 235.839766 deg,
      new cmd heading: 235.854200 deg.

2025-06-25T20:41:23.950Z,1750884083.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116432 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:24.065Z,1750884084.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757276
2025-06-25T20:41:24.274Z,1750884084.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:24.281Z,1750884084.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 418.218536 m,
      bearing: 239.315140 deg,
      approach rate: -0.655337 m/s,
      LOS rate: 0.009657 deg/s,
      cmd heading: 235.854191 deg,
      new cmd heading: 235.863686 deg.

2025-06-25T20:41:24.282Z,1750884084.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116598 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:24.317Z,1750884084.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009371
2025-06-25T20:41:24.570Z,1750884084.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261674
2025-06-25T20:41:24.682Z,1750884084.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:24.688Z,1750884084.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:24.690Z,1750884084.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 417.956635 m,
      bearing: 239.319074 deg,
      approach rate: -0.639009 m/s,
      LOS rate: 0.009603 deg/s,
      cmd heading: 235.863699 deg,
      new cmd heading: 235.875506 deg.

2025-06-25T20:41:24.691Z,1750884084.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116804 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:24.821Z,1750884084.821 [DAT](INFO): DAT read: Rx Time:20:41:25.5615

2025-06-25T20:41:24.821Z,1750884084.821 [DAT](INFO): Rx dataTimestamp_ set to:1750884084.820993
2025-06-25T20:41:24.822Z,1750884084.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514268
2025-06-25T20:41:25.073Z,1750884085.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765314
2025-06-25T20:41:25.083Z,1750884085.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.08 m.
2025-06-25T20:41:25.101Z,1750884085.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.084839 m,
      nav range: 417.678070 m,
      bearing: 239.323062 deg,
      approach rate: -0.698251 m/s,
      LOS rate: 0.010005 deg/s,
      cmd heading: 235.875501 deg,
      new cmd heading: 235.887476 deg.

2025-06-25T20:41:25.102Z,1750884085.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117013 target range: 427.084839 and range: 431.20 m.
2025-06-25T20:41:25.332Z,1750884085.332 [DAT](INFO): DAT read: 20:41:25.5615 LVL= 20064, 25425, 19634, 32755, AGC= 73, IDX= 407, 0.08, 1.588,-0.172, 1.417, 0.854, PHS= 0.822,-0.979, 0.560, RAW= 142.3,  -4.8, CAL= 147.8, -14.1, ROT=   2.2,  14.1

2025-06-25T20:41:25.334Z,1750884085.334 [DAT](INFO): got valid direction response:
 20:41:25.5615 LVL= 20064, 25425, 19634, 32755, AGC= 73, IDX= 407, 0.08, 1.588,-0.172, 1.417, 0.854, PHS= 0.822,-0.979, 0.560, RAW= 142.3,  -4.8, CAL= 147.8, -14.1, ROT=   2.2,  14.1

2025-06-25T20:41:25.335Z,1750884085.335 [DAT](INFO): DAT read: Bearing   2.2,  14.1 (Local)

2025-06-25T20:41:25.335Z,1750884085.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  14.1 (Local)

2025-06-25T20:41:25.339Z,1750884085.339 [DAT](INFO): DAT read: Range 10 to 50 : 428.4 m  (Round-trip  571.3 ms) speed  0.6 m/s

2025-06-25T20:41:25.348Z,1750884085.348 [DAT](INFO): DAT read: user:587>

2025-06-25T20:41:25.349Z,1750884085.349 [DAT](INFO): DAT read: Tx time:20:41:26.6860

2025-06-25T20:41:25.349Z,1750884085.349 [DAT](INFO): Ping request sent.
2025-06-25T20:41:25.350Z,1750884085.350 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:25.350Z,1750884085.350 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:25.351Z,1750884085.351 [DAT](INFO): direction in FSK: [0.969157,0.037231,-0.243615]
2025-06-25T20:41:25.351Z,1750884085.351 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:25.351Z,1750884085.351 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:25.367Z,1750884085.367 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:25.367Z,1750884085.367 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:25.508Z,1750884085.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 428.399994 m,
      deltaT: 4.030529 s,
      deltaX: -2.800018 m,
      approachRate: -0.694702 m/s,
      rangeRepo size: 4

2025-06-25T20:41:25.510Z,1750884085.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 424.314392 m,
      bearing: 237.971313 deg,
      lat: 36.906376 deg,
      lon: -122.116387 deg,
      deltaT: 4.030529 s,
      deltaX: -2.770447 m,
      approachRate: -0.687366 m/s,
      posRepo size: 4

2025-06-25T20:41:25.511Z,1750884085.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:25.518Z,1750884085.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 417.409271 m,
      bearing: 239.326890 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010005 deg/s,
      cmd heading: 235.887468 deg,
      new cmd heading: 235.900059 deg.

2025-06-25T20:41:25.519Z,1750884085.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117233 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:25.578Z,1750884085.578 [DAT](INFO): DAT read: TxSync time:20:41:26.6852

2025-06-25T20:41:25.944Z,1750884085.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:25.947Z,1750884085.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 417.103394 m,
      bearing: 239.331194 deg,
      approach rate: -0.692366 m/s,
      LOS rate: 0.009749 deg/s,
      cmd heading: 235.900063 deg,
      new cmd heading: 235.912984 deg.

2025-06-25T20:41:25.949Z,1750884085.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117458 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:26.300Z,1750884086.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:26.303Z,1750884086.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 416.866486 m,
      bearing: 239.334386 deg,
      approach rate: -0.665524 m/s,
      LOS rate: 0.008973 deg/s,
      cmd heading: 235.912985 deg,
      new cmd heading: 235.922567 deg.

2025-06-25T20:41:26.304Z,1750884086.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117626 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:26.683Z,1750884086.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:26.685Z,1750884086.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:26.688Z,1750884086.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 416.610077 m,
      bearing: 239.337866 deg,
      approach rate: -0.665031 m/s,
      LOS rate: 0.009030 deg/s,
      cmd heading: 235.922575 deg,
      new cmd heading: 235.933020 deg.

2025-06-25T20:41:26.689Z,1750884086.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117808 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:26.837Z,1750884086.837 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:26.837Z,1750884086.837 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:26.837Z,1750884086.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:27.089Z,1750884087.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739259
2025-06-25T20:41:27.102Z,1750884087.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:27.105Z,1750884087.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 416.329865 m,
      bearing: 239.341603 deg,
      approach rate: -0.672638 m/s,
      LOS rate: 0.008976 deg/s,
      cmd heading: 235.933012 deg,
      new cmd heading: 235.944230 deg.

2025-06-25T20:41:27.106Z,1750884087.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118004 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:27.343Z,1750884087.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993345
2025-06-25T20:41:27.486Z,1750884087.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:27.489Z,1750884087.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 416.071930 m,
      bearing: 239.345042 deg,
      approach rate: -0.672132 m/s,
      LOS rate: 0.008969 deg/s,
      cmd heading: 235.944240 deg,
      new cmd heading: 235.954566 deg.

2025-06-25T20:41:27.490Z,1750884087.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118184 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:27.597Z,1750884087.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247716
2025-06-25T20:41:27.849Z,1750884087.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499104
2025-06-25T20:41:27.994Z,1750884087.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:28.008Z,1750884088.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 415.737671 m,
      bearing: 239.349617 deg,
      approach rate: -0.657524 m/s,
      LOS rate: 0.009007 deg/s,
      cmd heading: 235.954568 deg,
      new cmd heading: 235.968303 deg.

2025-06-25T20:41:28.009Z,1750884088.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118424 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:28.101Z,1750884088.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751238
2025-06-25T20:41:28.308Z,1750884088.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:28.311Z,1750884088.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 415.519104 m,
      bearing: 239.352600 deg,
      approach rate: -0.714738 m/s,
      LOS rate: 0.009759 deg/s,
      cmd heading: 235.968310 deg,
      new cmd heading: 235.977263 deg.

2025-06-25T20:41:28.316Z,1750884088.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118580 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:28.353Z,1750884088.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003404
2025-06-25T20:41:28.605Z,1750884088.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255177
2025-06-25T20:41:28.710Z,1750884088.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:28.712Z,1750884088.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:28.715Z,1750884088.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 415.247772 m,
      bearing: 239.356278 deg,
      approach rate: -0.658520 m/s,
      LOS rate: 0.008932 deg/s,
      cmd heading: 235.977271 deg,
      new cmd heading: 235.988313 deg.

2025-06-25T20:41:28.716Z,1750884088.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118773 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:28.857Z,1750884088.857 [DAT](INFO): DAT read: Rx Time:20:41:29.6576

2025-06-25T20:41:28.857Z,1750884088.857 [DAT](INFO): Rx dataTimestamp_ set to:1750884088.857105
2025-06-25T20:41:28.858Z,1750884088.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508358
2025-06-25T20:41:29.109Z,1750884089.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759303
2025-06-25T20:41:29.126Z,1750884089.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:29.129Z,1750884089.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 414.958710 m,
      bearing: 239.360217 deg,
      approach rate: -0.698200 m/s,
      LOS rate: 0.009522 deg/s,
      cmd heading: 235.988309 deg,
      new cmd heading: 236.000135 deg.

2025-06-25T20:41:29.130Z,1750884089.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118979 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:29.364Z,1750884089.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013617
2025-06-25T20:41:29.506Z,1750884089.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.31 m.
2025-06-25T20:41:29.510Z,1750884089.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.314392 m,
      nav range: 414.700714 m,
      bearing: 239.363709 deg,
      approach rate: -0.678211 m/s,
      LOS rate: 0.009185 deg/s,
      cmd heading: 236.000139 deg,
      new cmd heading: 236.010621 deg.

2025-06-25T20:41:29.511Z,1750884089.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119163 target range: 424.314392 and range: 428.40 m.
2025-06-25T20:41:29.621Z,1750884089.621 [DAT](INFO): DAT read: 20:41:29.6576 LVL= 24864, 30577, 25746, 28723, AGC= 73, IDX= 399,-0.37,-1.559, 2.928,-1.762,-2.334, PHS= 0.862,-0.975, 0.569, RAW= 141.4,  -5.4, CAL= 147.1, -14.8, ROT=   2.9,  14.8

2025-06-25T20:41:29.622Z,1750884089.622 [DAT](INFO): got valid direction response:
 20:41:29.6576 LVL= 24864, 30577, 25746, 28723, AGC= 73, IDX= 399,-0.37,-1.559, 2.928,-1.762,-2.334, PHS= 0.862,-0.975, 0.569, RAW= 141.4,  -5.4, CAL= 147.1, -14.8, ROT=   2.9,  14.8

2025-06-25T20:41:29.623Z,1750884089.623 [DAT](INFO): DAT read: Bearing   2.9,  14.8 (Local)

2025-06-25T20:41:29.623Z,1750884089.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  14.8 (Local)

2025-06-25T20:41:29.625Z,1750884089.625 [DAT](INFO): DAT read: Range 10 to 50 : 425.5 m  (Round-trip  567.4 ms) speed  0.5 m/s

2025-06-25T20:41:29.626Z,1750884089.626 [DAT](INFO): DAT read: user:588>

2025-06-25T20:41:29.626Z,1750884089.626 [DAT](INFO): DAT read: Tx time:20:41:30.7360

2025-06-25T20:41:29.627Z,1750884089.627 [DAT](INFO): Ping request sent.
2025-06-25T20:41:29.627Z,1750884089.627 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:29.627Z,1750884089.627 [DAT](INFO): DAT read: TxSync time:20:41:30.7352

2025-06-25T20:41:29.628Z,1750884089.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:29.629Z,1750884089.629 [DAT](INFO): direction in FSK: [0.965585,0.048914,-0.255446]
2025-06-25T20:41:29.629Z,1750884089.629 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:29.630Z,1750884089.630 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:29.642Z,1750884089.642 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:29.642Z,1750884089.642 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:29.996Z,1750884089.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 425.500000 m,
      deltaT: 4.286787 s,
      deltaX: -2.899994 m,
      approachRate: -0.676496 m/s,
      rangeRepo size: 4

2025-06-25T20:41:29.998Z,1750884089.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.445160 m,
      bearing: 238.979261 deg,
      lat: 36.906340 deg,
      lon: -122.116408 deg,
      deltaT: 4.286787 s,
      deltaX: -2.869232 m,
      approachRate: -0.669320 m/s,
      posRepo size: 4

2025-06-25T20:41:29.999Z,1750884089.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:30.005Z,1750884090.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 418.048737 m,
      bearing: 239.035753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009185 deg/s,
      cmd heading: 236.010630 deg,
      new cmd heading: 236.023982 deg.

2025-06-25T20:41:30.006Z,1750884090.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119396 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:30.343Z,1750884090.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:30.346Z,1750884090.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 417.764130 m,
      bearing: 239.040184 deg,
      approach rate: -0.808972 m/s,
      LOS rate: 0.012604 deg/s,
      cmd heading: 236.023990 deg,
      new cmd heading: 236.037292 deg.

2025-06-25T20:41:30.347Z,1750884090.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119628 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:30.717Z,1750884090.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:30.719Z,1750884090.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:30.722Z,1750884090.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 417.506989 m,
      bearing: 239.044209 deg,
      approach rate: -0.683021 m/s,
      LOS rate: 0.010698 deg/s,
      cmd heading: 236.037295 deg,
      new cmd heading: 236.049377 deg.

2025-06-25T20:41:30.723Z,1750884090.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119839 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:30.873Z,1750884090.873 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:30.873Z,1750884090.873 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:30.873Z,1750884090.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:31.125Z,1750884091.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498053
2025-06-25T20:41:31.154Z,1750884091.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:31.160Z,1750884091.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 417.211761 m,
      bearing: 239.049427 deg,
      approach rate: -0.678830 m/s,
      LOS rate: 0.012007 deg/s,
      cmd heading: 236.049371 deg,
      new cmd heading: 236.065036 deg.

2025-06-25T20:41:31.163Z,1750884091.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120112 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:31.377Z,1750884091.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750232
2025-06-25T20:41:31.543Z,1750884091.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:31.546Z,1750884091.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 416.947479 m,
      bearing: 239.054104 deg,
      approach rate: -0.678956 m/s,
      LOS rate: 0.012024 deg/s,
      cmd heading: 236.065025 deg,
      new cmd heading: 236.079066 deg.

2025-06-25T20:41:31.547Z,1750884091.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120357 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:31.629Z,1750884091.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002662
2025-06-25T20:41:31.881Z,1750884091.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253935
2025-06-25T20:41:32.077Z,1750884092.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:32.079Z,1750884092.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 416.584503 m,
      bearing: 239.060491 deg,
      approach rate: -0.680749 m/s,
      LOS rate: 0.011989 deg/s,
      cmd heading: 236.079068 deg,
      new cmd heading: 236.098246 deg.

2025-06-25T20:41:32.100Z,1750884092.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120692 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:32.133Z,1750884092.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506321
2025-06-25T20:41:32.386Z,1750884092.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758948
2025-06-25T20:41:32.430Z,1750884092.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:32.437Z,1750884092.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 416.350952 m,
      bearing: 239.064502 deg,
      approach rate: -0.660153 m/s,
      LOS rate: 0.011344 deg/s,
      cmd heading: 236.098247 deg,
      new cmd heading: 236.110287 deg.

2025-06-25T20:41:32.438Z,1750884092.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120902 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:32.637Z,1750884092.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010579
2025-06-25T20:41:32.814Z,1750884092.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:32.820Z,1750884092.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:32.823Z,1750884092.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 416.096283 m,
      bearing: 239.068841 deg,
      approach rate: -0.660363 m/s,
      LOS rate: 0.011257 deg/s,
      cmd heading: 236.110296 deg,
      new cmd heading: 236.123320 deg.

2025-06-25T20:41:32.828Z,1750884092.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121130 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:32.890Z,1750884092.890 [DAT](INFO): DAT read: Rx Time:20:41:33.7039

2025-06-25T20:41:32.890Z,1750884092.890 [DAT](INFO): Rx dataTimestamp_ set to:1750884092.890051
2025-06-25T20:41:32.891Z,1750884092.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264414
2025-06-25T20:41:33.141Z,1750884093.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513994
2025-06-25T20:41:33.227Z,1750884093.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:33.230Z,1750884093.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 415.797241 m,
      bearing: 239.074138 deg,
      approach rate: -0.727077 m/s,
      LOS rate: 0.012889 deg/s,
      cmd heading: 236.123328 deg,
      new cmd heading: 236.139231 deg.

2025-06-25T20:41:33.231Z,1750884093.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121407 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:33.397Z,1750884093.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769755
2025-06-25T20:41:33.600Z,1750884093.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.45 m.
2025-06-25T20:41:33.604Z,1750884093.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.445160 m,
      nav range: 415.541473 m,
      bearing: 239.078675 deg,
      approach rate: -0.686393 m/s,
      LOS rate: 0.012182 deg/s,
      cmd heading: 236.139229 deg,
      new cmd heading: 236.152847 deg.

2025-06-25T20:41:33.607Z,1750884093.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121644 target range: 421.445160 and range: 425.50 m.
2025-06-25T20:41:33.654Z,1750884093.654 [DAT](INFO): DAT read: 20:41:33.7039 LVL= 17536, 18529, 17618, 21955, AGC= 70, IDX= 409,-0.22,-2.622, 1.879,-2.828, 2.852, PHS= 0.897,-0.926, 0.600, RAW= 141.3,  -6.8, CAL= 147.3, -16.3, ROT=   2.7,  16.3

2025-06-25T20:41:33.655Z,1750884093.655 [DAT](INFO): got valid direction response:
 20:41:33.7039 LVL= 17536, 18529, 17618, 21955, AGC= 70, IDX= 409,-0.22,-2.622, 1.879,-2.828, 2.852, PHS= 0.897,-0.926, 0.600, RAW= 141.3,  -6.8, CAL= 147.3, -16.3, ROT=   2.7,  16.3

2025-06-25T20:41:33.657Z,1750884093.657 [DAT](INFO): DAT read: Bearing   2.7,  16.3 (Local)

2025-06-25T20:41:33.657Z,1750884093.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  16.3 (Local)

2025-06-25T20:41:33.664Z,1750884093.664 [DAT](INFO): DAT read: Range 10 to 50 : 422.7 m  (Round-trip  563.7 ms) speed  0.5 m/s

2025-06-25T20:41:33.665Z,1750884093.665 [DAT](INFO): DAT read: user:589>

2025-06-25T20:41:33.666Z,1750884093.666 [DAT](INFO): DAT read: Tx time:20:41:34.7860

2025-06-25T20:41:33.667Z,1750884093.667 [DAT](INFO): Ping request sent.
2025-06-25T20:41:33.667Z,1750884093.667 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:33.672Z,1750884093.672 [DAT](INFO): DAT read: TxSync time:20:41:34.7852

2025-06-25T20:41:33.672Z,1750884093.672 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:33.673Z,1750884093.673 [DAT](INFO): direction in FSK: [0.958740,0.045213,-0.280667]
2025-06-25T20:41:33.674Z,1750884093.674 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:33.674Z,1750884093.674 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:33.691Z,1750884093.691 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:33.691Z,1750884093.691 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:34.065Z,1750884094.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 422.700012 m,
      deltaT: 4.032154 s,
      deltaX: -2.799988 m,
      approachRate: -0.694415 m/s,
      rangeRepo size: 4

2025-06-25T20:41:34.067Z,1750884094.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 418.673584 m,
      bearing: 239.282798 deg,
      lat: 36.906340 deg,
      lon: -122.116409 deg,
      deltaT: 4.032154 s,
      deltaX: -2.771576 m,
      approachRate: -0.687369 m/s,
      posRepo size: 4

2025-06-25T20:41:34.067Z,1750884094.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:34.074Z,1750884094.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 415.281281 m,
      bearing: 239.088100 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012182 deg/s,
      cmd heading: 236.152834 deg,
      new cmd heading: 236.169637 deg.

2025-06-25T20:41:34.075Z,1750884094.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121938 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:34.411Z,1750884094.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:34.434Z,1750884094.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 415.031372 m,
      bearing: 239.091978 deg,
      approach rate: -0.710791 m/s,
      LOS rate: 0.011036 deg/s,
      cmd heading: 236.169637 deg,
      new cmd heading: 236.181277 deg.

2025-06-25T20:41:34.435Z,1750884094.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122141 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:34.812Z,1750884094.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:34.815Z,1750884094.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 414.767426 m,
      bearing: 239.096023 deg,
      approach rate: -0.693707 m/s,
      LOS rate: 0.010637 deg/s,
      cmd heading: 236.181275 deg,
      new cmd heading: 236.193417 deg.

2025-06-25T20:41:34.820Z,1750884094.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122353 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:35.214Z,1750884095.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:35.216Z,1750884095.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:35.219Z,1750884095.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 414.483307 m,
      bearing: 239.100412 deg,
      approach rate: -0.669646 m/s,
      LOS rate: 0.010352 deg/s,
      cmd heading: 236.193406 deg,
      new cmd heading: 236.206582 deg.

2025-06-25T20:41:35.220Z,1750884095.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122582 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:35.409Z,1750884095.409 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:35.409Z,1750884095.409 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:35.409Z,1750884095.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:35.606Z,1750884095.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:35.609Z,1750884095.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 414.221405 m,
      bearing: 239.104420 deg,
      approach rate: -0.671049 m/s,
      LOS rate: 0.010275 deg/s,
      cmd heading: 236.206574 deg,
      new cmd heading: 236.218605 deg.

2025-06-25T20:41:35.610Z,1750884095.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122792 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:35.662Z,1750884095.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994554
2025-06-25T20:41:35.913Z,1750884095.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245972
2025-06-25T20:41:36.075Z,1750884096.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:36.081Z,1750884096.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 413.918335 m,
      bearing: 239.109069 deg,
      approach rate: -0.647247 m/s,
      LOS rate: 0.009936 deg/s,
      cmd heading: 236.218595 deg,
      new cmd heading: 236.232553 deg.

2025-06-25T20:41:36.082Z,1750884096.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123036 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:36.165Z,1750884096.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498518
2025-06-25T20:41:36.417Z,1750884096.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749942
2025-06-25T20:41:36.439Z,1750884096.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:36.442Z,1750884096.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 413.662903 m,
      bearing: 239.111941 deg,
      approach rate: -0.700167 m/s,
      LOS rate: 0.007878 deg/s,
      cmd heading: 236.232556 deg,
      new cmd heading: 236.241179 deg.

2025-06-25T20:41:36.443Z,1750884096.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123187 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:36.670Z,1750884096.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003559
2025-06-25T20:41:36.815Z,1750884096.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:36.817Z,1750884096.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 413.411438 m,
      bearing: 239.114769 deg,
      approach rate: -0.670274 m/s,
      LOS rate: 0.007541 deg/s,
      cmd heading: 236.241190 deg,
      new cmd heading: 236.249677 deg.

2025-06-25T20:41:36.818Z,1750884096.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123335 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:36.921Z,1750884096.921 [DAT](INFO): DAT read: Rx Time:20:41:37.7500

2025-06-25T20:41:36.921Z,1750884096.921 [DAT](INFO): Rx dataTimestamp_ set to:1750884096.921157
2025-06-25T20:41:36.922Z,1750884096.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255126
2025-06-25T20:41:37.173Z,1750884097.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506176
2025-06-25T20:41:37.261Z,1750884097.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:37.263Z,1750884097.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:37.281Z,1750884097.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 413.114807 m,
      bearing: 239.117990 deg,
      approach rate: -0.661938 m/s,
      LOS rate: 0.007194 deg/s,
      cmd heading: 236.249686 deg,
      new cmd heading: 236.259358 deg.

2025-06-25T20:41:37.291Z,1750884097.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123504 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:37.425Z,1750884097.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758358
2025-06-25T20:41:37.660Z,1750884097.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.67 m.
2025-06-25T20:41:37.672Z,1750884097.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.673584 m,
      nav range: 412.872742 m,
      bearing: 239.120606 deg,
      approach rate: -0.616993 m/s,
      LOS rate: 0.006673 deg/s,
      cmd heading: 236.259358 deg,
      new cmd heading: 236.267212 deg.

2025-06-25T20:41:37.673Z,1750884097.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123641 target range: 418.673584 and range: 422.70 m.
2025-06-25T20:41:37.683Z,1750884097.683 [DAT](INFO): DAT read: 20:41:37.7500 LVL= 23312, 23793, 21234, 31091, AGC= 71, IDX= 402,-0.38, 1.172,-0.491, 1.076, 0.425, PHS= 0.836,-0.869, 0.648, RAW= 144.2,  -7.6, CAL= 150.4, -16.7, ROT= 359.6,  16.7

2025-06-25T20:41:37.684Z,1750884097.684 [DAT](INFO): got valid direction response:
 20:41:37.7500 LVL= 23312, 23793, 21234, 31091, AGC= 71, IDX= 402,-0.38, 1.172,-0.491, 1.076, 0.425, PHS= 0.836,-0.869, 0.648, RAW= 144.2,  -7.6, CAL= 150.4, -16.7, ROT= 359.6,  16.7

2025-06-25T20:41:37.685Z,1750884097.685 [DAT](INFO): DAT read: Bearing 359.6,  16.7 (Local)

2025-06-25T20:41:37.686Z,1750884097.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  16.7 (Local)

2025-06-25T20:41:37.688Z,1750884097.688 [DAT](INFO): DAT read: Range 10 to 50 : 419.9 m  (Round-trip  559.9 ms) speed  0.6 m/s

2025-06-25T20:41:37.688Z,1750884097.688 [DAT](INFO): DAT read: user:590>

2025-06-25T20:41:37.689Z,1750884097.689 [DAT](INFO): DAT read: Tx time:20:41:38.8360

2025-06-25T20:41:37.689Z,1750884097.689 [DAT](INFO): Ping request sent.
2025-06-25T20:41:37.690Z,1750884097.690 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:37.690Z,1750884097.690 [DAT](INFO): DAT read: TxSync time:20:41:38.8352

2025-06-25T20:41:37.691Z,1750884097.691 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:37.696Z,1750884097.696 [DAT](INFO): direction in FSK: [0.957799,-0.006687,-0.287361]
2025-06-25T20:41:37.697Z,1750884097.697 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:37.697Z,1750884097.697 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:37.704Z,1750884097.704 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:37.704Z,1750884097.704 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:38.107Z,1750884098.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 419.899994 m,
      deltaT: 4.031804 s,
      deltaX: -2.800018 m,
      approachRate: -0.694483 m/s,
      rangeRepo size: 4

2025-06-25T20:41:38.114Z,1750884098.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 415.901672 m,
      bearing: 236.633975 deg,
      lat: 36.906328 deg,
      lon: -122.116408 deg,
      deltaT: 4.031804 s,
      deltaX: -2.771912 m,
      approachRate: -0.687512 m/s,
      posRepo size: 4

2025-06-25T20:41:38.114Z,1750884098.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:38.121Z,1750884098.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 413.231476 m,
      bearing: 238.959634 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006673 deg/s,
      cmd heading: 236.267199 deg,
      new cmd heading: 236.276241 deg.

2025-06-25T20:41:38.122Z,1750884098.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123798 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:38.466Z,1750884098.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:38.473Z,1750884098.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 412.972839 m,
      bearing: 238.961977 deg,
      approach rate: -0.719826 m/s,
      LOS rate: 0.006526 deg/s,
      cmd heading: 236.276242 deg,
      new cmd heading: 236.283276 deg.

2025-06-25T20:41:38.474Z,1750884098.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123921 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:38.834Z,1750884098.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:38.838Z,1750884098.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 412.719513 m,
      bearing: 238.964253 deg,
      approach rate: -0.687901 m/s,
      LOS rate: 0.006185 deg/s,
      cmd heading: 236.283264 deg,
      new cmd heading: 236.290097 deg.

2025-06-25T20:41:38.839Z,1750884098.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124040 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:39.267Z,1750884099.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:39.270Z,1750884099.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:39.273Z,1750884099.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 412.432404 m,
      bearing: 238.966970 deg,
      approach rate: -0.659483 m/s,
      LOS rate: 0.006244 deg/s,
      cmd heading: 236.290094 deg,
      new cmd heading: 236.298248 deg.

2025-06-25T20:41:39.273Z,1750884099.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124182 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:39.441Z,1750884099.441 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:39.441Z,1750884099.441 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:39.441Z,1750884099.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:39.656Z,1750884099.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:39.661Z,1750884099.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 412.179932 m,
      bearing: 238.969339 deg,
      approach rate: -0.653705 m/s,
      LOS rate: 0.006138 deg/s,
      cmd heading: 236.298235 deg,
      new cmd heading: 236.305347 deg.

2025-06-25T20:41:39.662Z,1750884099.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124306 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:39.693Z,1750884099.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003344
2025-06-25T20:41:39.945Z,1750884099.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255133
2025-06-25T20:41:40.134Z,1750884100.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:40.145Z,1750884100.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 411.910339 m,
      bearing: 238.971872 deg,
      approach rate: -0.563587 m/s,
      LOS rate: 0.005299 deg/s,
      cmd heading: 236.305339 deg,
      new cmd heading: 236.312942 deg.

2025-06-25T20:41:40.146Z,1750884100.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124439 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:40.197Z,1750884100.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507265
2025-06-25T20:41:40.449Z,1750884100.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759323
2025-06-25T20:41:40.526Z,1750884100.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:40.537Z,1750884100.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 411.606506 m,
      bearing: 238.975129 deg,
      approach rate: -0.776161 m/s,
      LOS rate: 0.008326 deg/s,
      cmd heading: 236.312934 deg,
      new cmd heading: 236.322712 deg.

2025-06-25T20:41:40.538Z,1750884100.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124609 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:40.701Z,1750884100.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011122
2025-06-25T20:41:40.880Z,1750884100.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:40.883Z,1750884100.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 411.366028 m,
      bearing: 238.977720 deg,
      approach rate: -0.679191 m/s,
      LOS rate: 0.007324 deg/s,
      cmd heading: 236.322715 deg,
      new cmd heading: 236.330494 deg.

2025-06-25T20:41:40.884Z,1750884100.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124745 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:40.958Z,1750884100.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268420
2025-06-25T20:41:41.209Z,1750884101.209 [DAT](INFO): DAT read: Rx Time:20:41:41.8081

2025-06-25T20:41:41.209Z,1750884101.209 [DAT](INFO): Rx dataTimestamp_ set to:1750884101.209086
2025-06-25T20:41:41.210Z,1750884101.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520341
2025-06-25T20:41:41.319Z,1750884101.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:41.321Z,1750884101.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.90 m.
2025-06-25T20:41:41.324Z,1750884101.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.901672 m,
      nav range: 411.069153 m,
      bearing: 238.981992 deg,
      approach rate: -0.672480 m/s,
      LOS rate: 0.009685 deg/s,
      cmd heading: 236.330501 deg,
      new cmd heading: 236.343328 deg.

2025-06-25T20:41:41.325Z,1750884101.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124969 target range: 415.901672 and range: 419.90 m.
2025-06-25T20:41:41.461Z,1750884101.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771162
2025-06-25T20:41:41.719Z,1750884101.719 [DAT](INFO): DAT read: 20:41:41.8081 LVL= 18272, 21873, 16850, 24867, AGC= 75, IDX=   3, 0.03,-2.843, 1.859,-2.931, 2.696, PHS= 0.832,-0.790, 0.652, RAW= 144.2,  -9.1, CAL= 150.8, -18.1, ROT= 359.2,  18.1

2025-06-25T20:41:41.720Z,1750884101.720 [DAT](INFO): got valid direction response:
 20:41:41.8081 LVL= 18272, 21873, 16850, 24867, AGC= 75, IDX=   3, 0.03,-2.843, 1.859,-2.931, 2.696, PHS= 0.832,-0.790, 0.652, RAW= 144.2,  -9.1, CAL= 150.8, -18.1, ROT= 359.2,  18.1

2025-06-25T20:41:41.721Z,1750884101.721 [DAT](INFO): DAT read: Bearing 359.2,  18.1 (Local)

2025-06-25T20:41:41.722Z,1750884101.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  18.1 (Local)

2025-06-25T20:41:41.723Z,1750884101.723 [DAT](INFO): DAT read: Range 10 to 50 : 425.8 m  (Round-trip  567.8 ms) speed  0.5 m/s

2025-06-25T20:41:41.724Z,1750884101.724 [DAT](INFO): DAT read: user:591>

2025-06-25T20:41:41.725Z,1750884101.725 [DAT](INFO): DAT read: Tx time:20:41:42.8861

2025-06-25T20:41:41.725Z,1750884101.725 [DAT](INFO): Ping request sent.
2025-06-25T20:41:41.725Z,1750884101.725 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:41.726Z,1750884101.726 [DAT](INFO): DAT read: TxSync time:20:41:42.8853

2025-06-25T20:41:41.726Z,1750884101.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:41.727Z,1750884101.727 [DAT](INFO): direction in FSK: [0.950423,-0.013271,-0.310676]
2025-06-25T20:41:41.728Z,1750884101.728 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:41.728Z,1750884101.728 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:41.731Z,1750884101.731 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:41.731Z,1750884101.731 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:41.746Z,1750884101.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 425.799988 m,
      deltaT: 4.035900 s,
      deltaX: 5.899994 m,
      approachRate: 1.461878 m/s,
      rangeRepo size: 4

2025-06-25T20:41:41.756Z,1750884101.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.747009 m,
      bearing: 236.478243 deg,
      lat: 36.906273 deg,
      lon: -122.116383 deg,
      deltaT: 4.035900 s,
      deltaX: 5.845337 m,
      approachRate: 1.448335 m/s,
      posRepo size: 4

2025-06-25T20:41:41.757Z,1750884101.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:41.759Z,1750884101.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 412.135864 m,
      bearing: 238.093819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009685 deg/s,
      cmd heading: 236.343315 deg,
      new cmd heading: 236.355632 deg.

2025-06-25T20:41:41.765Z,1750884101.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125184 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:42.168Z,1750884102.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:42.171Z,1750884102.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 411.844971 m,
      bearing: 238.097372 deg,
      approach rate: -0.688352 m/s,
      LOS rate: 0.008412 deg/s,
      cmd heading: 236.355636 deg,
      new cmd heading: 236.366301 deg.

2025-06-25T20:41:42.172Z,1750884102.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125370 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:42.540Z,1750884102.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:42.545Z,1750884102.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 411.581879 m,
      bearing: 238.100328 deg,
      approach rate: -0.722391 m/s,
      LOS rate: 0.008124 deg/s,
      cmd heading: 236.366291 deg,
      new cmd heading: 236.375168 deg.

2025-06-25T20:41:42.547Z,1750884102.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125525 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:42.898Z,1750884102.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:42.901Z,1750884102.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 411.310760 m,
      bearing: 238.103315 deg,
      approach rate: -0.739804 m/s,
      LOS rate: 0.008156 deg/s,
      cmd heading: 236.375171 deg,
      new cmd heading: 236.384138 deg.

2025-06-25T20:41:42.902Z,1750884102.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125681 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:43.333Z,1750884103.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:43.335Z,1750884103.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 411.022095 m,
      bearing: 238.106811 deg,
      approach rate: -0.664848 m/s,
      LOS rate: 0.008057 deg/s,
      cmd heading: 236.384132 deg,
      new cmd heading: 236.394626 deg.

2025-06-25T20:41:43.342Z,1750884103.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125865 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:43.724Z,1750884103.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:43.726Z,1750884103.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:43.729Z,1750884103.729 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:43.729Z,1750884103.729 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:43.729Z,1750884103.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:43.733Z,1750884103.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 410.753021 m,
      bearing: 238.110035 deg,
      approach rate: -0.683472 m/s,
      LOS rate: 0.008194 deg/s,
      cmd heading: 236.394623 deg,
      new cmd heading: 236.404301 deg.

2025-06-25T20:41:43.733Z,1750884103.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126033 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:43.981Z,1750884103.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255299
2025-06-25T20:41:44.131Z,1750884104.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:44.156Z,1750884104.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 410.469391 m,
      bearing: 238.113411 deg,
      approach rate: -0.703141 m/s,
      LOS rate: 0.008374 deg/s,
      cmd heading: 236.404295 deg,
      new cmd heading: 236.414429 deg.

2025-06-25T20:41:44.164Z,1750884104.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126210 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:44.234Z,1750884104.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508188
2025-06-25T20:41:44.485Z,1750884104.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759428
2025-06-25T20:41:44.539Z,1750884104.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:44.542Z,1750884104.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 410.179474 m,
      bearing: 238.117345 deg,
      approach rate: -0.707574 m/s,
      LOS rate: 0.009609 deg/s,
      cmd heading: 236.414431 deg,
      new cmd heading: 236.426242 deg.

2025-06-25T20:41:44.543Z,1750884104.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126416 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:44.737Z,1750884104.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011322
2025-06-25T20:41:44.930Z,1750884104.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:44.933Z,1750884104.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 409.911682 m,
      bearing: 238.120967 deg,
      approach rate: -0.685844 m/s,
      LOS rate: 0.009282 deg/s,
      cmd heading: 236.426233 deg,
      new cmd heading: 236.437106 deg.

2025-06-25T20:41:44.934Z,1750884104.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126606 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:44.990Z,1750884104.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264251
2025-06-25T20:41:45.241Z,1750884105.241 [DAT](INFO): DAT read: Rx Time:20:41:45.8428

2025-06-25T20:41:45.241Z,1750884105.241 [DAT](INFO): Rx dataTimestamp_ set to:1750884105.241029
2025-06-25T20:41:45.242Z,1750884105.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516460
2025-06-25T20:41:45.418Z,1750884105.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:45.421Z,1750884105.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 409.578033 m,
      bearing: 238.125184 deg,
      approach rate: -0.683286 m/s,
      LOS rate: 0.008644 deg/s,
      cmd heading: 236.437107 deg,
      new cmd heading: 236.449770 deg.

2025-06-25T20:41:45.422Z,1750884105.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126827 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:45.494Z,1750884105.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768874
2025-06-25T20:41:45.742Z,1750884105.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:45.751Z,1750884105.751 [DAT](INFO): DAT read: 20:41:45.8428 LVL= 17808, 21713, 18482, 29267, AGC= 74, IDX= 279,-0.31, 0.310,-1.253, 0.189,-0.436, PHS= 0.834,-0.770, 0.622, RAW= 143.0,  -9.1, CAL= 149.8, -18.4, ROT=   0.2,  18.4

2025-06-25T20:41:45.752Z,1750884105.752 [DAT](INFO): got valid direction response:
 20:41:45.8428 LVL= 17808, 21713, 18482, 29267, AGC= 74, IDX= 279,-0.31, 0.310,-1.253, 0.189,-0.436, PHS= 0.834,-0.770, 0.622, RAW= 143.0,  -9.1, CAL= 149.8, -18.4, ROT=   0.2,  18.4

2025-06-25T20:41:45.753Z,1750884105.753 [DAT](INFO): DAT read: Bearing   0.2,  18.4 (Local)

2025-06-25T20:41:45.754Z,1750884105.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  18.4 (Local)

2025-06-25T20:41:45.759Z,1750884105.759 [DAT](INFO): DAT read: Range 10 to 50 : 414.4 m  (Round-trip  552.6 ms) speed  0.4 m/s

2025-06-25T20:41:45.762Z,1750884105.762 [DAT](INFO): DAT read: user:592>

2025-06-25T20:41:45.766Z,1750884105.766 [DAT](INFO): DAT read: Tx time:20:41:46.9361

2025-06-25T20:41:45.767Z,1750884105.767 [DAT](INFO): Ping request sent.
2025-06-25T20:41:45.767Z,1750884105.767 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:45.767Z,1750884105.767 [DAT](INFO): DAT read: TxSync time:20:41:46.9353

2025-06-25T20:41:45.768Z,1750884105.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:45.769Z,1750884105.769 [DAT](INFO): direction in FSK: [0.948870,0.003312,-0.315649]
2025-06-25T20:41:45.769Z,1750884105.769 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:45.769Z,1750884105.769 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:45.776Z,1750884105.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.75 m.
2025-06-25T20:41:45.779Z,1750884105.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.747009 m,
      nav range: 409.366577 m,
      bearing: 238.127844 deg,
      approach rate: -0.649362 m/s,
      LOS rate: 0.008173 deg/s,
      cmd heading: 236.449756 deg,
      new cmd heading: 236.457740 deg.

2025-06-25T20:41:45.781Z,1750884105.781 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:45.781Z,1750884105.781 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:45.788Z,1750884105.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126966 target range: 421.747009 and range: 425.80 m.
2025-06-25T20:41:46.210Z,1750884106.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 414.399994 m,
      deltaT: 4.032069 s,
      deltaX: -11.399994 m,
      approachRate: -2.827331 m/s,
      rangeRepo size: 4

2025-06-25T20:41:46.217Z,1750884106.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.455811 m,
      bearing: 237.797907 deg,
      lat: 36.906201 deg,
      lon: -122.116365 deg,
      deltaT: 4.032069 s,
      deltaX: -11.291199 m,
      approachRate: -2.800349 m/s,
      posRepo size: 4

2025-06-25T20:41:46.218Z,1750884106.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:46.225Z,1750884106.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 411.953827 m,
      bearing: 237.066889 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008173 deg/s,
      cmd heading: 236.457734 deg,
      new cmd heading: 236.468966 deg.

2025-06-25T20:41:46.226Z,1750884106.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127162 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:46.581Z,1750884106.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:46.585Z,1750884106.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 411.659790 m,
      bearing: 237.069023 deg,
      approach rate: -0.775309 m/s,
      LOS rate: 0.005630 deg/s,
      cmd heading: 236.468963 deg,
      new cmd heading: 236.475369 deg.

2025-06-25T20:41:46.585Z,1750884106.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127274 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:47.017Z,1750884107.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:47.020Z,1750884107.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 411.363708 m,
      bearing: 237.071133 deg,
      approach rate: -0.679381 m/s,
      LOS rate: 0.004847 deg/s,
      cmd heading: 236.475356 deg,
      new cmd heading: 236.481692 deg.

2025-06-25T20:41:47.021Z,1750884107.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127384 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:47.438Z,1750884107.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:47.441Z,1750884107.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 411.076080 m,
      bearing: 237.072965 deg,
      approach rate: -0.683477 m/s,
      LOS rate: 0.004356 deg/s,
      cmd heading: 236.481694 deg,
      new cmd heading: 236.487193 deg.

2025-06-25T20:41:47.442Z,1750884107.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127480 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:47.580Z,1750884107.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:41:47.858Z,1750884107.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:47.860Z,1750884107.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:47.862Z,1750884107.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 410.788544 m,
      bearing: 237.074769 deg,
      approach rate: -0.681549 m/s,
      LOS rate: 0.004279 deg/s,
      cmd heading: 236.487186 deg,
      new cmd heading: 236.492601 deg.

2025-06-25T20:41:47.863Z,1750884107.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127574 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:48.013Z,1750884108.013 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:48.013Z,1750884108.013 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:48.013Z,1750884108.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:48.265Z,1750884108.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498104
2025-06-25T20:41:48.301Z,1750884108.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:48.304Z,1750884108.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 410.493317 m,
      bearing: 237.075715 deg,
      approach rate: -0.668446 m/s,
      LOS rate: 0.002143 deg/s,
      cmd heading: 236.492595 deg,
      new cmd heading: 236.495435 deg.

2025-06-25T20:41:48.305Z,1750884108.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127624 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:48.517Z,1750884108.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750239
2025-06-25T20:41:48.584Z,1750884108.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:41:48.678Z,1750884108.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:48.681Z,1750884108.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 410.242035 m,
      bearing: 237.076507 deg,
      approach rate: -0.666701 m/s,
      LOS rate: 0.002104 deg/s,
      cmd heading: 236.495437 deg,
      new cmd heading: 236.497816 deg.

2025-06-25T20:41:48.682Z,1750884108.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127666 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:48.769Z,1750884108.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002695
2025-06-25T20:41:49.021Z,1750884109.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254124
2025-06-25T20:41:49.072Z,1750884109.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:49.075Z,1750884109.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 409.978363 m,
      bearing: 237.077344 deg,
      approach rate: -0.670186 m/s,
      LOS rate: 0.002127 deg/s,
      cmd heading: 236.497814 deg,
      new cmd heading: 236.500324 deg.

2025-06-25T20:41:49.075Z,1750884109.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127709 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:49.274Z,1750884109.274 [DAT](INFO): DAT read: Rx Time:20:41:49.8890

2025-06-25T20:41:49.274Z,1750884109.274 [DAT](INFO): Rx dataTimestamp_ set to:1750884109.273884
2025-06-25T20:41:49.275Z,1750884109.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508005
2025-06-25T20:41:49.525Z,1750884109.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758340
2025-06-25T20:41:49.529Z,1750884109.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.46 m.
2025-06-25T20:41:49.532Z,1750884109.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.455811 m,
      nav range: 409.674927 m,
      bearing: 237.079018 deg,
      approach rate: -0.663076 m/s,
      LOS rate: 0.003662 deg/s,
      cmd heading: 236.500327 deg,
      new cmd heading: 236.505354 deg.

2025-06-25T20:41:49.533Z,1750884109.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127797 target range: 410.455811 and range: 414.40 m.
2025-06-25T20:41:49.783Z,1750884109.783 [DAT](INFO): DAT read: 20:41:49.8890 LVL= 13168, 13489, 12850, 19731, AGC= 70, IDX= 399, 0.33, 1.618,-0.100, 1.466, 0.847, PHS= 0.859,-0.900, 0.616, RAW= 142.7,  -7.0, CAL= 148.8, -16.3, ROT=   1.2,  16.3

2025-06-25T20:41:49.784Z,1750884109.784 [DAT](INFO): got valid direction response:
 20:41:49.8890 LVL= 13168, 13489, 12850, 19731, AGC= 70, IDX= 399, 0.33, 1.618,-0.100, 1.466, 0.847, PHS= 0.859,-0.900, 0.616, RAW= 142.7,  -7.0, CAL= 148.8, -16.3, ROT=   1.2,  16.3

2025-06-25T20:41:49.785Z,1750884109.785 [DAT](INFO): DAT read: Bearing   1.2,  16.3 (Local)

2025-06-25T20:41:49.785Z,1750884109.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  16.3 (Local)

2025-06-25T20:41:49.787Z,1750884109.787 [DAT](INFO): DAT read: Range 10 to 50 : 411.6 m  (Round-trip  548.8 ms) speed  0.8 m/s

2025-06-25T20:41:49.788Z,1750884109.788 [DAT](INFO): DAT read: user:593>

2025-06-25T20:41:49.788Z,1750884109.788 [DAT](INFO): DAT read: Tx time:20:41:50.9861

2025-06-25T20:41:49.789Z,1750884109.789 [DAT](INFO): Ping request sent.
2025-06-25T20:41:49.789Z,1750884109.789 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:49.789Z,1750884109.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:49.790Z,1750884109.790 [DAT](INFO): direction in FSK: [0.959595,0.020101,-0.280667]
2025-06-25T20:41:49.790Z,1750884109.790 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:49.791Z,1750884109.791 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:49.797Z,1750884109.797 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:49.797Z,1750884109.797 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:49.933Z,1750884109.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 411.600006 m,
      deltaT: 4.031992 s,
      deltaX: -2.799988 m,
      approachRate: -0.694443 m/s,
      rangeRepo size: 4

2025-06-25T20:41:49.935Z,1750884109.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 407.683472 m,
      bearing: 238.772020 deg,
      lat: 36.906201 deg,
      lon: -122.116365 deg,
      deltaT: 4.031992 s,
      deltaX: -2.772339 m,
      approachRate: -0.687585 m/s,
      posRepo size: 4

2025-06-25T20:41:49.944Z,1750884109.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:49.947Z,1750884109.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 409.424133 m,
      bearing: 237.080404 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003662 deg/s,
      cmd heading: 236.505354 deg,
      new cmd heading: 236.509732 deg.

2025-06-25T20:41:49.952Z,1750884109.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127873 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:50.029Z,1750884110.029 [DAT](INFO): DAT read: TxSync time:20:41:50.9853

2025-06-25T20:41:50.331Z,1750884110.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:50.333Z,1750884110.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:50.336Z,1750884110.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 409.136902 m,
      bearing: 237.081316 deg,
      approach rate: -0.708440 m/s,
      LOS rate: 0.002252 deg/s,
      cmd heading: 236.509725 deg,
      new cmd heading: 236.512465 deg.

2025-06-25T20:41:50.337Z,1750884110.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127921 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:50.532Z,1750884110.532 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:50.533Z,1750884110.533 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:50.533Z,1750884110.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:50.690Z,1750884110.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:50.709Z,1750884110.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 408.897400 m,
      bearing: 237.082062 deg,
      approach rate: -0.670479 m/s,
      LOS rate: 0.002089 deg/s,
      cmd heading: 236.512457 deg,
      new cmd heading: 236.514696 deg.

2025-06-25T20:41:50.710Z,1750884110.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127960 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:50.786Z,1750884110.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996302
2025-06-25T20:41:51.037Z,1750884111.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247931
2025-06-25T20:41:51.098Z,1750884111.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:51.101Z,1750884111.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 408.624176 m,
      bearing: 237.082958 deg,
      approach rate: -0.669719 m/s,
      LOS rate: 0.002199 deg/s,
      cmd heading: 236.514698 deg,
      new cmd heading: 236.517389 deg.

2025-06-25T20:41:51.102Z,1750884111.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128007 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:51.293Z,1750884111.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503801
2025-06-25T20:41:51.531Z,1750884111.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:51.538Z,1750884111.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 408.347351 m,
      bearing: 237.084550 deg,
      approach rate: -0.640235 m/s,
      LOS rate: 0.003684 deg/s,
      cmd heading: 236.517403 deg,
      new cmd heading: 236.522181 deg.

2025-06-25T20:41:51.539Z,1750884111.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128091 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:51.542Z,1750884111.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752741
2025-06-25T20:41:51.793Z,1750884111.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003887
2025-06-25T20:41:51.899Z,1750884111.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:51.903Z,1750884111.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 408.091644 m,
      bearing: 237.086004 deg,
      approach rate: -0.694321 m/s,
      LOS rate: 0.003951 deg/s,
      cmd heading: 236.522184 deg,
      new cmd heading: 236.526548 deg.

2025-06-25T20:41:51.904Z,1750884111.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128167 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:52.045Z,1750884112.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256071
2025-06-25T20:41:52.301Z,1750884112.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511626
2025-06-25T20:41:52.346Z,1750884112.346 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   82,   +12,A
2025-06-25T20:41:52.376Z,1750884112.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:52.378Z,1750884112.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:52.385Z,1750884112.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 407.783813 m,
      bearing: 237.087701 deg,
      approach rate: -0.642638 m/s,
      LOS rate: 0.003545 deg/s,
      cmd heading: 236.526555 deg,
      new cmd heading: 236.531649 deg.

2025-06-25T20:41:52.386Z,1750884112.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128256 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:52.549Z,1750884112.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759873
2025-06-25T20:41:52.719Z,1750884112.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:52.722Z,1750884112.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 407.546051 m,
      bearing: 237.088963 deg,
      approach rate: -0.697631 m/s,
      LOS rate: 0.003706 deg/s,
      cmd heading: 236.531637 deg,
      new cmd heading: 236.535426 deg.

2025-06-25T20:41:52.723Z,1750884112.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128322 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:52.802Z,1750884112.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012646
2025-06-25T20:41:53.053Z,1750884113.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264122
2025-06-25T20:41:53.131Z,1750884113.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:53.135Z,1750884113.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 407.284546 m,
      bearing: 237.090298 deg,
      approach rate: -0.633912 m/s,
      LOS rate: 0.003237 deg/s,
      cmd heading: 236.535434 deg,
      new cmd heading: 236.539441 deg.

2025-06-25T20:41:53.140Z,1750884113.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128392 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:53.308Z,1750884113.308 [DAT](INFO): DAT read: Rx Time:20:41:53.9354

2025-06-25T20:41:53.310Z,1750884113.310 [DAT](INFO): Rx dataTimestamp_ set to:1750884113.309082
2025-06-25T20:41:53.313Z,1750884113.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522240
2025-06-25T20:41:53.537Z,1750884113.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.68 m.
2025-06-25T20:41:53.539Z,1750884113.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.683472 m,
      nav range: 406.999481 m,
      bearing: 237.091972 deg,
      approach rate: -0.703263 m/s,
      LOS rate: 0.004134 deg/s,
      cmd heading: 236.539450 deg,
      new cmd heading: 236.544477 deg.

2025-06-25T20:41:53.541Z,1750884113.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128480 target range: 407.683472 and range: 411.60 m.
2025-06-25T20:41:53.557Z,1750884113.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767741
2025-06-25T20:41:53.819Z,1750884113.819 [DAT](INFO): DAT read: 20:41:53.9354 LVL= 24928, 30801, 21202, 32755, AGC= 72, IDX= 411,-0.07,-2.694, 1.870,-2.794, 2.852, PHS= 0.825,-0.936, 0.634, RAW= 144.3,  -6.3, CAL= 150.1, -15.3, ROT= 359.9,  15.3

2025-06-25T20:41:53.820Z,1750884113.820 [DAT](INFO): got valid direction response:
 20:41:53.9354 LVL= 24928, 30801, 21202, 32755, AGC= 72, IDX= 411,-0.07,-2.694, 1.870,-2.794, 2.852, PHS= 0.825,-0.936, 0.634, RAW= 144.3,  -6.3, CAL= 150.1, -15.3, ROT= 359.9,  15.3

2025-06-25T20:41:53.822Z,1750884113.822 [DAT](INFO): DAT read: Bearing 359.9,  15.3 (Local)

2025-06-25T20:41:53.823Z,1750884113.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  15.3 (Local)

2025-06-25T20:41:53.862Z,1750884113.862 [DAT](INFO): DAT read: Range 10 to 50 : 408.9 m  (Round-trip  545.2 ms) speed  0.5 m/s

2025-06-25T20:41:53.863Z,1750884113.863 [DAT](INFO): DAT read: user:594>

2025-06-25T20:41:53.863Z,1750884113.863 [DAT](INFO): DAT read: Tx time:20:41:55.0361

2025-06-25T20:41:53.865Z,1750884113.865 [DAT](INFO): Ping request sent.
2025-06-25T20:41:53.865Z,1750884113.865 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:53.865Z,1750884113.865 [DAT](INFO): DAT read: TxSync time:20:41:55.0353

2025-06-25T20:41:53.866Z,1750884113.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:53.867Z,1750884113.867 [DAT](INFO): direction in FSK: [0.964556,-0.001684,-0.263873]
2025-06-25T20:41:53.867Z,1750884113.867 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:53.867Z,1750884113.867 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:53.871Z,1750884113.871 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:53.871Z,1750884113.871 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:53.969Z,1750884113.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 408.899994 m,
      deltaT: 4.032603 s,
      deltaX: -2.700012 m,
      approachRate: -0.669546 m/s,
      rangeRepo size: 4

2025-06-25T20:41:53.971Z,1750884113.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.010986 m,
      bearing: 237.654249 deg,
      lat: 36.906250 deg,
      lon: -122.116365 deg,
      deltaT: 4.032603 s,
      deltaX: -2.672485 m,
      approachRate: -0.662720 m/s,
      posRepo size: 4

2025-06-25T20:41:53.977Z,1750884113.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:53.979Z,1750884113.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 403.814423 m,
      bearing: 237.738211 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004134 deg/s,
      cmd heading: 236.544477 deg,
      new cmd heading: 236.549834 deg.

2025-06-25T20:41:53.985Z,1750884113.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128573 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:54.374Z,1750884114.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:54.377Z,1750884114.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 403.519073 m,
      bearing: 237.740694 deg,
      approach rate: -0.729507 m/s,
      LOS rate: 0.006136 deg/s,
      cmd heading: 236.549832 deg,
      new cmd heading: 236.557284 deg.

2025-06-25T20:41:54.378Z,1750884114.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128704 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:54.723Z,1750884114.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:54.725Z,1750884114.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:54.748Z,1750884114.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 403.279816 m,
      bearing: 237.742748 deg,
      approach rate: -0.680481 m/s,
      LOS rate: 0.005847 deg/s,
      cmd heading: 236.557291 deg,
      new cmd heading: 236.563458 deg.

2025-06-25T20:41:54.749Z,1750884114.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128811 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:54.817Z,1750884114.817 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:54.818Z,1750884114.818 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:54.818Z,1750884114.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:55.069Z,1750884115.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.204001
2025-06-25T20:41:55.148Z,1750884115.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:55.151Z,1750884115.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 403.005188 m,
      bearing: 237.745110 deg,
      approach rate: -0.648859 m/s,
      LOS rate: 0.005584 deg/s,
      cmd heading: 236.563465 deg,
      new cmd heading: 236.570555 deg.

2025-06-25T20:41:55.152Z,1750884115.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128935 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:55.324Z,1750884115.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458912
2025-06-25T20:41:55.573Z,1750884115.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708174
2025-06-25T20:41:55.587Z,1750884115.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:55.590Z,1750884115.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 402.689728 m,
      bearing: 237.747308 deg,
      approach rate: -0.719165 m/s,
      LOS rate: 0.005016 deg/s,
      cmd heading: 236.570569 deg,
      new cmd heading: 236.577169 deg.

2025-06-25T20:41:55.591Z,1750884115.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129051 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:55.825Z,1750884115.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960049
2025-06-25T20:41:55.965Z,1750884115.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:55.988Z,1750884115.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 402.430389 m,
      bearing: 237.749155 deg,
      approach rate: -0.686313 m/s,
      LOS rate: 0.004891 deg/s,
      cmd heading: 236.577180 deg,
      new cmd heading: 236.582725 deg.

2025-06-25T20:41:55.989Z,1750884115.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129148 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:56.078Z,1750884116.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212487
2025-06-25T20:41:56.331Z,1750884116.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466043
2025-06-25T20:41:56.443Z,1750884116.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:56.446Z,1750884116.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 402.102356 m,
      bearing: 237.751305 deg,
      approach rate: -0.685709 m/s,
      LOS rate: 0.004498 deg/s,
      cmd heading: 236.582726 deg,
      new cmd heading: 236.589182 deg.

2025-06-25T20:41:56.447Z,1750884116.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129260 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:56.581Z,1750884116.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716032
2025-06-25T20:41:56.818Z,1750884116.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:56.820Z,1750884116.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:56.823Z,1750884116.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 401.848450 m,
      bearing: 237.753096 deg,
      approach rate: -0.674599 m/s,
      LOS rate: 0.004761 deg/s,
      cmd heading: 236.589174 deg,
      new cmd heading: 236.594550 deg.

2025-06-25T20:41:56.824Z,1750884116.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129354 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:56.833Z,1750884116.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968408
2025-06-25T20:41:57.085Z,1750884117.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220125
2025-06-25T20:41:57.224Z,1750884117.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:57.227Z,1750884117.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 401.568054 m,
      bearing: 237.755105 deg,
      approach rate: -0.692995 m/s,
      LOS rate: 0.004968 deg/s,
      cmd heading: 236.594556 deg,
      new cmd heading: 236.600587 deg.

2025-06-25T20:41:57.228Z,1750884117.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129459 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:57.342Z,1750884117.342 [DAT](INFO): DAT read: Rx Time:20:41:57.9817

2025-06-25T20:41:57.350Z,1750884117.350 [DAT](INFO): Rx dataTimestamp_ set to:1750884117.342841
2025-06-25T20:41:57.354Z,1750884117.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486747
2025-06-25T20:41:57.589Z,1750884117.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724030
2025-06-25T20:41:57.702Z,1750884117.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.01 m.
2025-06-25T20:41:57.719Z,1750884117.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.010986 m,
      nav range: 401.288452 m,
      bearing: 237.757078 deg,
      approach rate: -0.587022 m/s,
      LOS rate: 0.004145 deg/s,
      cmd heading: 236.600594 deg,
      new cmd heading: 236.606518 deg.

2025-06-25T20:41:57.724Z,1750884117.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129563 target range: 405.010986 and range: 408.90 m.
2025-06-25T20:41:57.847Z,1750884117.847 [DAT](INFO): DAT read: 20:41:57.9817 LVL= 22176, 20065, 19970, 30515, AGC= 69, IDX= 405,-0.43, 0.020,-1.664,-0.066,-0.682, PHS= 0.790,-0.935, 0.613, RAW= 144.6,  -5.8, CAL= 150.2, -14.8, ROT= 359.8,  14.8

2025-06-25T20:41:57.851Z,1750884117.851 [DAT](INFO): got valid direction response:
 20:41:57.9817 LVL= 22176, 20065, 19970, 30515, AGC= 69, IDX= 405,-0.43, 0.020,-1.664,-0.066,-0.682, PHS= 0.790,-0.935, 0.613, RAW= 144.6,  -5.8, CAL= 150.2, -14.8, ROT= 359.8,  14.8

2025-06-25T20:41:57.858Z,1750884117.858 [DAT](INFO): DAT read: Bearing 359.8,  14.8 (Local)

2025-06-25T20:41:57.858Z,1750884117.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  14.8 (Local)

2025-06-25T20:41:57.860Z,1750884117.860 [DAT](INFO): DAT read: Range 10 to 50 : 406.1 m  (Round-trip  541.5 ms) speed  0.5 m/s

2025-06-25T20:41:57.860Z,1750884117.860 [DAT](INFO): DAT read: user:595>

2025-06-25T20:41:57.861Z,1750884117.861 [DAT](INFO): DAT read: Tx time:20:41:59.0861

2025-06-25T20:41:57.861Z,1750884117.861 [DAT](INFO): Ping request sent.
2025-06-25T20:41:57.861Z,1750884117.861 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:41:57.862Z,1750884117.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:41:57.863Z,1750884117.863 [DAT](INFO): direction in FSK: [0.966817,-0.003375,-0.255446]
2025-06-25T20:41:57.863Z,1750884117.863 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:57.863Z,1750884117.863 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:57.867Z,1750884117.867 [DAT](INFO): publishing transmit ping time
2025-06-25T20:41:57.867Z,1750884117.867 [DAT](INFO): publishing direction and range info
2025-06-25T20:41:58.068Z,1750884118.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 406.100006 m,
      deltaT: 4.031455 s,
      deltaX: -2.799988 m,
      approachRate: -0.694535 m/s,
      rangeRepo size: 4

2025-06-25T20:41:58.070Z,1750884118.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 402.239319 m,
      bearing: 237.144153 deg,
      lat: 36.906250 deg,
      lon: -122.116353 deg,
      deltaT: 4.031455 s,
      deltaX: -2.771667 m,
      approachRate: -0.687510 m/s,
      posRepo size: 4

2025-06-25T20:41:58.071Z,1750884118.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:41:58.082Z,1750884118.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 400.097076 m,
      bearing: 237.675986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004145 deg/s,
      cmd heading: 236.606523 deg,
      new cmd heading: 236.611033 deg.

2025-06-25T20:41:58.083Z,1750884118.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129642 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:41:58.093Z,1750884118.093 [DAT](INFO): DAT read: TxSync time:20:41:59.0853

2025-06-25T20:41:58.445Z,1750884118.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:41:58.448Z,1750884118.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 399.830170 m,
      bearing: 237.678045 deg,
      approach rate: -0.699351 m/s,
      LOS rate: 0.005398 deg/s,
      cmd heading: 236.611031 deg,
      new cmd heading: 236.617212 deg.

2025-06-25T20:41:58.449Z,1750884118.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129749 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:41:58.887Z,1750884118.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:41:58.890Z,1750884118.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:41:58.892Z,1750884118.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 399.533325 m,
      bearing: 237.680376 deg,
      approach rate: -0.667767 m/s,
      LOS rate: 0.005247 deg/s,
      cmd heading: 236.617205 deg,
      new cmd heading: 236.624203 deg.

2025-06-25T20:41:58.893Z,1750884118.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129871 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:41:59.105Z,1750884119.105 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:41:59.105Z,1750884119.105 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:41:59.105Z,1750884119.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:41:59.227Z,1750884119.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:41:59.250Z,1750884119.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 399.307526 m,
      bearing: 237.682189 deg,
      approach rate: -0.668200 m/s,
      LOS rate: 0.005368 deg/s,
      cmd heading: 236.624199 deg,
      new cmd heading: 236.629641 deg.

2025-06-25T20:41:59.251Z,1750884119.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129966 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:41:59.361Z,1750884119.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498838
2025-06-25T20:41:59.609Z,1750884119.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747090
2025-06-25T20:41:59.683Z,1750884119.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:41:59.685Z,1750884119.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 399.002747 m,
      bearing: 237.685659 deg,
      approach rate: -0.669657 m/s,
      LOS rate: 0.007631 deg/s,
      cmd heading: 236.629636 deg,
      new cmd heading: 236.640055 deg.

2025-06-25T20:41:59.686Z,1750884119.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130148 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:41:59.861Z,1750884119.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999196
2025-06-25T20:42:00.068Z,1750884120.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:42:00.070Z,1750884120.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 398.758057 m,
      bearing: 237.688483 deg,
      approach rate: -0.635634 m/s,
      LOS rate: 0.007341 deg/s,
      cmd heading: 236.640045 deg,
      new cmd heading: 236.648523 deg.

2025-06-25T20:42:00.071Z,1750884120.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130296 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:42:00.113Z,1750884120.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251503
2025-06-25T20:42:00.369Z,1750884120.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506276
2025-06-25T20:42:00.486Z,1750884120.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:42:00.489Z,1750884120.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 398.466919 m,
      bearing: 237.691864 deg,
      approach rate: -0.696059 m/s,
      LOS rate: 0.008088 deg/s,
      cmd heading: 236.648515 deg,
      new cmd heading: 236.658664 deg.

2025-06-25T20:42:00.490Z,1750884120.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130473 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:42:00.617Z,1750884120.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755150
2025-06-25T20:42:00.836Z,1750884120.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:42:00.839Z,1750884120.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 398.233521 m,
      bearing: 237.694567 deg,
      approach rate: -0.666489 m/s,
      LOS rate: 0.007725 deg/s,
      cmd heading: 236.658651 deg,
      new cmd heading: 236.666767 deg.

2025-06-25T20:42:00.856Z,1750884120.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130614 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:42:00.869Z,1750884120.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007340
2025-06-25T20:42:01.121Z,1750884121.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259406
2025-06-25T20:42:01.242Z,1750884121.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:01.244Z,1750884121.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:42:01.247Z,1750884121.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 397.962341 m,
      bearing: 237.697666 deg,
      approach rate: -0.664943 m/s,
      LOS rate: 0.007605 deg/s,
      cmd heading: 236.666765 deg,
      new cmd heading: 236.676069 deg.

2025-06-25T20:42:01.248Z,1750884121.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130777 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:42:01.373Z,1750884121.373 [DAT](INFO): DAT read: Rx Time:20:42:02.0407

2025-06-25T20:42:01.373Z,1750884121.373 [DAT](INFO): Rx dataTimestamp_ set to:1750884121.372982
2025-06-25T20:42:01.374Z,1750884121.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512248
2025-06-25T20:42:01.625Z,1750884121.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763257
2025-06-25T20:42:01.707Z,1750884121.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.24 m.
2025-06-25T20:42:01.731Z,1750884121.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 402.239319 m,
      nav range: 397.665009 m,
      bearing: 237.700809 deg,
      approach rate: -0.642136 m/s,
      LOS rate: 0.006793 deg/s,
      cmd heading: 236.676081 deg,
      new cmd heading: 236.685517 deg.

2025-06-25T20:42:01.739Z,1750884121.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130941 target range: 402.239319 and range: 406.10 m.
2025-06-25T20:42:01.883Z,1750884121.883 [DAT](INFO): DAT read: 20:42:02.0407 LVL= 23968, 20049, 21858, 16771, AGC= 72, IDX=  16,-0.06,-0.703,-2.279,-0.548,-1.437, PHS= 0.822,-0.794, 0.887, RAW= 151.9, -11.1, CAL= 158.5, -18.6, ROT= 351.5,  18.6

2025-06-25T20:42:01.887Z,1750884121.887 [DAT](INFO): got valid direction response:
 20:42:02.0407 LVL= 23968, 20049, 21858, 16771, AGC= 72, IDX=  16,-0.06,-0.703,-2.279,-0.548,-1.437, PHS= 0.822,-0.794, 0.887, RAW= 151.9, -11.1, CAL= 158.5, -18.6, ROT= 351.5,  18.6

2025-06-25T20:42:01.888Z,1750884121.888 [DAT](INFO): DAT read: Bearing 351.5,  18.6 (Local)

2025-06-25T20:42:01.889Z,1750884121.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.5,  18.6 (Local)

2025-06-25T20:42:01.890Z,1750884121.890 [DAT](INFO): DAT read: Range 10 to 50 : 412.7 m  (Round-trip  550.3 ms) speed  0.8 m/s

2025-06-25T20:42:01.891Z,1750884121.891 [DAT](INFO): DAT read: user:596>

2025-06-25T20:42:01.920Z,1750884121.920 [DAT](INFO): DAT read: Tx time:20:42:03.1362

2025-06-25T20:42:01.920Z,1750884121.920 [DAT](INFO): Ping request sent.
2025-06-25T20:42:01.920Z,1750884121.920 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:01.921Z,1750884121.921 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:01.922Z,1750884121.922 [DAT](INFO): direction in FSK: [0.937358,-0.140089,-0.318959]
2025-06-25T20:42:01.922Z,1750884121.922 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:01.922Z,1750884121.922 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:01.933Z,1750884121.933 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:01.934Z,1750884121.934 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:02.098Z,1750884122.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.700012 m,
      deltaT: 4.036277 s,
      deltaX: 6.600006 m,
      approachRate: 1.635172 m/s,
      rangeRepo size: 4

2025-06-25T20:42:02.104Z,1750884122.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 408.778625 m,
      bearing: 229.284553 deg,
      lat: 36.906250 deg,
      lon: -122.116343 deg,
      deltaT: 4.036277 s,
      deltaX: 6.539307 m,
      approachRate: 1.620133 m/s,
      posRepo size: 4

2025-06-25T20:42:02.105Z,1750884122.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:02.107Z,1750884122.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 396.656860 m,
      bearing: 237.635099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006793 deg/s,
      cmd heading: 236.685507 deg,
      new cmd heading: 236.693459 deg.

2025-06-25T20:42:02.112Z,1750884122.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131080 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:02.129Z,1750884122.129 [DAT](INFO): DAT read: TxSync time:20:42:03.1354

2025-06-25T20:42:02.503Z,1750884122.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:02.506Z,1750884122.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 396.365265 m,
      bearing: 237.638022 deg,
      approach rate: -0.718201 m/s,
      LOS rate: 0.007203 deg/s,
      cmd heading: 236.693457 deg,
      new cmd heading: 236.702230 deg.

2025-06-25T20:42:02.507Z,1750884122.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131233 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:02.885Z,1750884122.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:02.888Z,1750884122.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 396.110168 m,
      bearing: 237.640595 deg,
      approach rate: -0.670408 m/s,
      LOS rate: 0.006767 deg/s,
      cmd heading: 236.702227 deg,
      new cmd heading: 236.709952 deg.

2025-06-25T20:42:02.889Z,1750884122.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131368 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:03.264Z,1750884123.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:03.266Z,1750884123.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:03.269Z,1750884123.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 395.837708 m,
      bearing: 237.643349 deg,
      approach rate: -0.711806 m/s,
      LOS rate: 0.007200 deg/s,
      cmd heading: 236.709959 deg,
      new cmd heading: 236.718227 deg.

2025-06-25T20:42:03.270Z,1750884123.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131513 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:03.388Z,1750884123.388 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:03.389Z,1750884123.389 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:03.389Z,1750884123.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:03.642Z,1750884123.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721462
2025-06-25T20:42:03.714Z,1750884123.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:03.733Z,1750884123.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 395.522217 m,
      bearing: 237.646367 deg,
      approach rate: -0.705520 m/s,
      LOS rate: 0.006754 deg/s,
      cmd heading: 236.718237 deg,
      new cmd heading: 236.727298 deg.

2025-06-25T20:42:03.734Z,1750884123.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131671 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:03.893Z,1750884123.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972421
2025-06-25T20:42:04.091Z,1750884124.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:04.094Z,1750884124.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 395.255737 m,
      bearing: 237.648902 deg,
      approach rate: -0.705409 m/s,
      LOS rate: 0.006716 deg/s,
      cmd heading: 236.727308 deg,
      new cmd heading: 236.734919 deg.

2025-06-25T20:42:04.095Z,1750884124.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131804 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:04.145Z,1750884124.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224544
2025-06-25T20:42:04.399Z,1750884124.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478461
2025-06-25T20:42:04.559Z,1750884124.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:04.566Z,1750884124.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 394.933868 m,
      bearing: 237.651972 deg,
      approach rate: -0.687861 m/s,
      LOS rate: 0.006566 deg/s,
      cmd heading: 236.734930 deg,
      new cmd heading: 236.744148 deg.

2025-06-25T20:42:04.567Z,1750884124.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131965 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:04.649Z,1750884124.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729166
2025-06-25T20:42:04.901Z,1750884124.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980382
2025-06-25T20:42:04.935Z,1750884124.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:04.942Z,1750884124.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 394.673065 m,
      bearing: 237.654440 deg,
      approach rate: -0.693775 m/s,
      LOS rate: 0.006571 deg/s,
      cmd heading: 236.744137 deg,
      new cmd heading: 236.751548 deg.

2025-06-25T20:42:04.943Z,1750884124.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132094 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:05.153Z,1750884125.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232534
2025-06-25T20:42:05.322Z,1750884125.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:05.324Z,1750884125.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:05.327Z,1750884125.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 394.391571 m,
      bearing: 237.657084 deg,
      approach rate: -0.723208 m/s,
      LOS rate: 0.006798 deg/s,
      cmd heading: 236.751541 deg,
      new cmd heading: 236.759479 deg.

2025-06-25T20:42:05.329Z,1750884125.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132233 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:05.406Z,1750884125.406 [DAT](INFO): DAT read: Rx Time:20:42:06.0873

2025-06-25T20:42:05.407Z,1750884125.407 [DAT](INFO): Rx dataTimestamp_ set to:1750884125.405926
2025-06-25T20:42:05.407Z,1750884125.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486726
2025-06-25T20:42:05.657Z,1750884125.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736785
2025-06-25T20:42:05.776Z,1750884125.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.78 m.
2025-06-25T20:42:05.818Z,1750884125.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.778625 m,
      nav range: 394.079559 m,
      bearing: 237.659840 deg,
      approach rate: -0.693449 m/s,
      LOS rate: 0.006129 deg/s,
      cmd heading: 236.759492 deg,
      new cmd heading: 236.767765 deg.

2025-06-25T20:42:05.822Z,1750884125.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132377 target range: 408.778625 and range: 412.70 m.
2025-06-25T20:42:05.915Z,1750884125.915 [DAT](INFO): DAT read: 20:42:06.0873 LVL= 24976, 23521, 23682, 32739, AGC= 73, IDX= 413,-0.34,-1.443,-2.847,-1.255,-2.113, PHS= 0.758,-0.687, 0.856, RAW= 153.2, -12.4, CAL= 160.1, -19.5, ROT= 349.9,  19.5

2025-06-25T20:42:05.916Z,1750884125.916 [DAT](INFO): got valid direction response:
 20:42:06.0873 LVL= 24976, 23521, 23682, 32739, AGC= 73, IDX= 413,-0.34,-1.443,-2.847,-1.255,-2.113, PHS= 0.758,-0.687, 0.856, RAW= 153.2, -12.4, CAL= 160.1, -19.5, ROT= 349.9,  19.5

2025-06-25T20:42:05.917Z,1750884125.917 [DAT](INFO): DAT read: Bearing 349.9,  19.5 (Local)

2025-06-25T20:42:05.918Z,1750884125.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,  19.5 (Local)

2025-06-25T20:42:05.919Z,1750884125.919 [DAT](INFO): DAT read: Range 10 to 50 : 410.1 m  (Round-trip  546.9 ms) speed  0.6 m/s

2025-06-25T20:42:05.920Z,1750884125.920 [DAT](INFO): DAT read: user:597>

2025-06-25T20:42:05.921Z,1750884125.921 [DAT](INFO): DAT read: Tx time:20:42:07.1862

2025-06-25T20:42:05.921Z,1750884125.921 [DAT](INFO): Ping request sent.
2025-06-25T20:42:05.921Z,1750884125.921 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:05.921Z,1750884125.921 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:05.922Z,1750884125.922 [DAT](INFO): direction in FSK: [0.928034,-0.165308,-0.333807]
2025-06-25T20:42:05.923Z,1750884125.923 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:05.923Z,1750884125.923 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:05.926Z,1750884125.926 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:05.927Z,1750884125.927 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:06.161Z,1750884126.161 [DAT](INFO): DAT read: TxSync time:20:42:07.1854

2025-06-25T20:42:06.166Z,1750884126.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.100006 m,
      deltaT: 4.031856 s,
      deltaX: -2.600006 m,
      approachRate: -0.644866 m/s,
      rangeRepo size: 4

2025-06-25T20:42:06.172Z,1750884126.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.204132 m,
      bearing: 228.164919 deg,
      lat: 36.906222 deg,
      lon: -122.116330 deg,
      deltaT: 4.031856 s,
      deltaX: -2.574493 m,
      approachRate: -0.638538 m/s,
      posRepo size: 4

2025-06-25T20:42:06.174Z,1750884126.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:06.181Z,1750884126.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 394.591309 m,
      bearing: 237.193200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006129 deg/s,
      cmd heading: 236.767770 deg,
      new cmd heading: 236.774961 deg.

2025-06-25T20:42:06.181Z,1750884126.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132503 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:06.570Z,1750884126.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:06.573Z,1750884126.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 394.303070 m,
      bearing: 237.194916 deg,
      approach rate: -0.711951 m/s,
      LOS rate: 0.004240 deg/s,
      cmd heading: 236.774955 deg,
      new cmd heading: 236.780105 deg.

2025-06-25T20:42:06.574Z,1750884126.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132593 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:06.953Z,1750884126.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:06.956Z,1750884126.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 394.035767 m,
      bearing: 237.196524 deg,
      approach rate: -0.697578 m/s,
      LOS rate: 0.004199 deg/s,
      cmd heading: 236.780119 deg,
      new cmd heading: 236.784946 deg.

2025-06-25T20:42:06.957Z,1750884126.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132677 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:07.377Z,1750884127.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:07.379Z,1750884127.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:07.386Z,1750884127.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 393.756104 m,
      bearing: 237.198161 deg,
      approach rate: -0.657068 m/s,
      LOS rate: 0.003849 deg/s,
      cmd heading: 236.784955 deg,
      new cmd heading: 236.789869 deg.

2025-06-25T20:42:07.387Z,1750884127.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132763 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:07.421Z,1750884127.421 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:07.421Z,1750884127.421 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:07.421Z,1750884127.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:07.673Z,1750884127.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751602
2025-06-25T20:42:07.773Z,1750884127.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:07.776Z,1750884127.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 393.473419 m,
      bearing: 237.200188 deg,
      approach rate: -0.716947 m/s,
      LOS rate: 0.005145 deg/s,
      cmd heading: 236.789872 deg,
      new cmd heading: 236.795959 deg.

2025-06-25T20:42:07.777Z,1750884127.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132869 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:07.925Z,1750884127.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003989
2025-06-25T20:42:08.159Z,1750884128.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:08.162Z,1750884128.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 393.210846 m,
      bearing: 237.201967 deg,
      approach rate: -0.680870 m/s,
      LOS rate: 0.004616 deg/s,
      cmd heading: 236.795965 deg,
      new cmd heading: 236.801306 deg.

2025-06-25T20:42:08.163Z,1750884128.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132962 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:08.177Z,1750884128.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255615
2025-06-25T20:42:08.429Z,1750884128.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507585
2025-06-25T20:42:08.598Z,1750884128.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:08.601Z,1750884128.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 392.921326 m,
      bearing: 237.203386 deg,
      approach rate: -0.659361 m/s,
      LOS rate: 0.003232 deg/s,
      cmd heading: 236.801292 deg,
      new cmd heading: 236.805550 deg.

2025-06-25T20:42:08.602Z,1750884128.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133037 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:08.681Z,1750884128.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759699
2025-06-25T20:42:08.933Z,1750884128.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011541
2025-06-25T20:42:08.967Z,1750884128.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:08.970Z,1750884128.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 392.677704 m,
      bearing: 237.204510 deg,
      approach rate: -0.660098 m/s,
      LOS rate: 0.003048 deg/s,
      cmd heading: 236.805555 deg,
      new cmd heading: 236.808929 deg.

2025-06-25T20:42:08.971Z,1750884128.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133096 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:09.185Z,1750884129.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264127
2025-06-25T20:42:09.379Z,1750884129.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:09.381Z,1750884129.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 392.406219 m,
      bearing: 237.205714 deg,
      approach rate: -0.659934 m/s,
      LOS rate: 0.002929 deg/s,
      cmd heading: 236.808942 deg,
      new cmd heading: 236.812557 deg.

2025-06-25T20:42:09.382Z,1750884129.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133159 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:09.438Z,1750884129.438 [DAT](INFO): DAT read: Rx Time:20:42:10.1335

2025-06-25T20:42:09.438Z,1750884129.438 [DAT](INFO): Rx dataTimestamp_ set to:1750884129.438186
2025-06-25T20:42:09.439Z,1750884129.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517979
2025-06-25T20:42:09.689Z,1750884129.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767837
2025-06-25T20:42:09.795Z,1750884129.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:09.798Z,1750884129.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.20 m.
2025-06-25T20:42:09.800Z,1750884129.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.204132 m,
      nav range: 392.131073 m,
      bearing: 237.207323 deg,
      approach rate: -0.656514 m/s,
      LOS rate: 0.003842 deg/s,
      cmd heading: 236.812549 deg,
      new cmd heading: 236.817379 deg.

2025-06-25T20:42:09.801Z,1750884129.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133243 target range: 406.204132 and range: 410.10 m.
2025-06-25T20:42:09.949Z,1750884129.949 [DAT](INFO): DAT read: 20:42:10.1335 LVL= 16224, 19345, 14642, 24259, AGC= 72, IDX= 407,-0.13,-2.669, 2.185,-2.767, 2.970, PHS= 0.732,-0.738, 0.543, RAW= 143.2,  -7.8, CAL= 149.5, -17.0, ROT=   0.5,  17.0

2025-06-25T20:42:09.950Z,1750884129.950 [DAT](INFO): got valid direction response:
 20:42:10.1335 LVL= 16224, 19345, 14642, 24259, AGC= 72, IDX= 407,-0.13,-2.669, 2.185,-2.767, 2.970, PHS= 0.732,-0.738, 0.543, RAW= 143.2,  -7.8, CAL= 149.5, -17.0, ROT=   0.5,  17.0

2025-06-25T20:42:09.952Z,1750884129.952 [DAT](INFO): DAT read: Bearing   0.5,  17.0 (Local)

2025-06-25T20:42:09.953Z,1750884129.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  17.0 (Local)

2025-06-25T20:42:09.954Z,1750884129.954 [DAT](INFO): DAT read: Range 10 to 50 : 407.4 m  (Round-trip  543.2 ms) speed  0.8 m/s

2025-06-25T20:42:09.955Z,1750884129.955 [DAT](INFO): DAT read: user:598>

2025-06-25T20:42:09.956Z,1750884129.956 [DAT](INFO): DAT read: Tx time:20:42:11.2362

2025-06-25T20:42:09.957Z,1750884129.957 [DAT](INFO): Ping request sent.
2025-06-25T20:42:09.957Z,1750884129.957 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:09.957Z,1750884129.957 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:09.958Z,1750884129.958 [DAT](INFO): direction in FSK: [0.956268,0.008345,-0.292372]
2025-06-25T20:42:09.958Z,1750884129.958 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:09.958Z,1750884129.958 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:09.962Z,1750884129.962 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:09.962Z,1750884129.962 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:10.193Z,1750884130.193 [DAT](INFO): DAT read: TxSync time:20:42:11.2354

2025-06-25T20:42:10.205Z,1750884130.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 407.399994 m,
      deltaT: 4.031898 s,
      deltaX: -2.700012 m,
      approachRate: -0.669663 m/s,
      rangeRepo size: 4

2025-06-25T20:42:10.207Z,1750884130.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 403.531250 m,
      bearing: 239.159376 deg,
      lat: 36.906222 deg,
      lon: -122.116330 deg,
      deltaT: 4.031898 s,
      deltaX: -2.672882 m,
      approachRate: -0.662934 m/s,
      posRepo size: 4

2025-06-25T20:42:10.207Z,1750884130.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:10.218Z,1750884130.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 391.876801 m,
      bearing: 237.208774 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003842 deg/s,
      cmd heading: 236.817384 deg,
      new cmd heading: 236.822020 deg.

2025-06-25T20:42:10.219Z,1750884130.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133324 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:10.622Z,1750884130.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:10.625Z,1750884130.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 391.594238 m,
      bearing: 237.210125 deg,
      approach rate: -0.669457 m/s,
      LOS rate: 0.003204 deg/s,
      cmd heading: 236.822029 deg,
      new cmd heading: 236.826086 deg.

2025-06-25T20:42:10.626Z,1750884130.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133395 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:10.984Z,1750884130.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:10.986Z,1750884130.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 391.360962 m,
      bearing: 237.211262 deg,
      approach rate: -0.644907 m/s,
      LOS rate: 0.003146 deg/s,
      cmd heading: 236.826072 deg,
      new cmd heading: 236.829487 deg.

2025-06-25T20:42:10.987Z,1750884130.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133454 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:11.385Z,1750884131.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:11.404Z,1750884131.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 391.102448 m,
      bearing: 237.212547 deg,
      approach rate: -0.643971 m/s,
      LOS rate: 0.003203 deg/s,
      cmd heading: 236.829488 deg,
      new cmd heading: 236.833345 deg.

2025-06-25T20:42:11.405Z,1750884131.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133522 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:11.807Z,1750884131.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:11.809Z,1750884131.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:11.832Z,1750884131.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 390.825470 m,
      bearing: 237.213506 deg,
      approach rate: -0.653049 m/s,
      LOS rate: 0.002262 deg/s,
      cmd heading: 236.833340 deg,
      new cmd heading: 236.836219 deg.

2025-06-25T20:42:11.833Z,1750884131.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133572 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:11.957Z,1750884131.957 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:11.957Z,1750884131.957 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:11.957Z,1750884131.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:12.213Z,1750884132.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255902
2025-06-25T20:42:12.267Z,1750884132.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:12.271Z,1750884132.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 390.525757 m,
      bearing: 237.214480 deg,
      approach rate: -0.654297 m/s,
      LOS rate: 0.002128 deg/s,
      cmd heading: 236.836208 deg,
      new cmd heading: 236.839132 deg.

2025-06-25T20:42:12.272Z,1750884132.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133623 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:12.461Z,1750884132.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503888
2025-06-25T20:42:12.713Z,1750884132.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756290
2025-06-25T20:42:12.728Z,1750884132.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:12.730Z,1750884132.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 390.226349 m,
      bearing: 237.214853 deg,
      approach rate: -0.650409 m/s,
      LOS rate: 0.000811 deg/s,
      cmd heading: 236.839132 deg,
      new cmd heading: 236.840252 deg.

2025-06-25T20:42:12.731Z,1750884132.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133642 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:12.965Z,1750884132.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008056
2025-06-25T20:42:13.084Z,1750884133.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:13.087Z,1750884133.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 389.994720 m,
      bearing: 237.215143 deg,
      approach rate: -0.649884 m/s,
      LOS rate: 0.000813 deg/s,
      cmd heading: 236.840252 deg,
      new cmd heading: 236.841121 deg.

2025-06-25T20:42:13.088Z,1750884133.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133657 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:13.217Z,1750884133.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259960
2025-06-25T20:42:13.469Z,1750884133.469 [DAT](INFO): DAT read: Rx Time:20:42:14.1801

2025-06-25T20:42:13.470Z,1750884133.470 [DAT](INFO): Rx dataTimestamp_ set to:1750884133.469586
2025-06-25T20:42:13.471Z,1750884133.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513936
2025-06-25T20:42:13.561Z,1750884133.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.53 m.
2025-06-25T20:42:13.569Z,1750884133.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.531250 m,
      nav range: 389.684662 m,
      bearing: 237.215542 deg,
      approach rate: -0.651471 m/s,
      LOS rate: 0.000839 deg/s,
      cmd heading: 236.841126 deg,
      new cmd heading: 236.842325 deg.

2025-06-25T20:42:13.572Z,1750884133.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133678 target range: 403.531250 and range: 407.40 m.
2025-06-25T20:42:13.721Z,1750884133.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764113
2025-06-25T20:42:13.979Z,1750884133.979 [DAT](INFO): DAT read: 20:42:14.1801 LVL= 17888, 15393, 16226, 23027, AGC= 70, IDX= 402,-0.10, 0.916,-0.372, 0.910, 0.322, PHS= 0.682,-0.648, 0.584, RAW= 146.2,  -9.7, CAL= 152.9, -18.3, ROT= 357.1,  18.3

2025-06-25T20:42:13.980Z,1750884133.980 [DAT](INFO): got valid direction response:
 20:42:14.1801 LVL= 17888, 15393, 16226, 23027, AGC= 70, IDX= 402,-0.10, 0.916,-0.372, 0.910, 0.322, PHS= 0.682,-0.648, 0.584, RAW= 146.2,  -9.7, CAL= 152.9, -18.3, ROT= 357.1,  18.3

2025-06-25T20:42:13.981Z,1750884133.981 [DAT](INFO): DAT read: Bearing 357.1,  18.3 (Local)

2025-06-25T20:42:13.981Z,1750884133.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  18.3 (Local)

2025-06-25T20:42:13.983Z,1750884133.983 [DAT](INFO): DAT read: Range 10 to 50 : 404.8 m  (Round-trip  539.8 ms) speed  0.7 m/s

2025-06-25T20:42:13.983Z,1750884133.983 [DAT](INFO): DAT read: user:599>

2025-06-25T20:42:13.984Z,1750884133.984 [DAT](INFO): DAT read: Tx time:20:42:15.2862

2025-06-25T20:42:13.985Z,1750884133.985 [DAT](INFO): Ping request sent.
2025-06-25T20:42:13.985Z,1750884133.985 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:13.985Z,1750884133.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:13.986Z,1750884133.986 [DAT](INFO): direction in FSK: [0.948210,-0.048034,-0.313992]
2025-06-25T20:42:13.986Z,1750884133.986 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:13.987Z,1750884133.987 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:13.990Z,1750884133.990 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:13.990Z,1750884133.990 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:14.021Z,1750884134.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 404.799988 m,
      deltaT: 4.031830 s,
      deltaX: -2.600006 m,
      approachRate: -0.644870 m/s,
      rangeRepo size: 4

2025-06-25T20:42:14.023Z,1750884134.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 400.956665 m,
      bearing: 235.802242 deg,
      lat: 36.906151 deg,
      lon: -122.116267 deg,
      deltaT: 4.031830 s,
      deltaX: -2.574585 m,
      approachRate: -0.638565 m/s,
      posRepo size: 4

2025-06-25T20:42:14.023Z,1750884134.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:14.030Z,1750884134.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 389.047333 m,
      bearing: 235.803673 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000839 deg/s,
      cmd heading: 236.842328 deg,
      new cmd heading: 236.843475 deg.

2025-06-25T20:42:14.031Z,1750884134.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133698 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:14.225Z,1750884134.225 [DAT](INFO): DAT read: TxSync time:20:42:15.2854

2025-06-25T20:42:14.359Z,1750884134.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:14.362Z,1750884134.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:14.373Z,1750884134.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 388.793152 m,
      bearing: 235.803312 deg,
      approach rate: -0.733395 m/s,
      LOS rate: -0.001043 deg/s,
      cmd heading: 236.843476 deg,
      new cmd heading: 236.842392 deg.

2025-06-25T20:42:14.374Z,1750884134.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133679 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:14.477Z,1750884134.477 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:14.477Z,1750884134.477 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:14.477Z,1750884134.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:14.729Z,1750884134.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743881
2025-06-25T20:42:14.787Z,1750884134.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:14.789Z,1750884134.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 388.506744 m,
      bearing: 235.803618 deg,
      approach rate: -0.674638 m/s,
      LOS rate: 0.000722 deg/s,
      cmd heading: 236.842383 deg,
      new cmd heading: 236.843303 deg.

2025-06-25T20:42:14.790Z,1750884134.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133696 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:14.981Z,1750884134.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995879
2025-06-25T20:42:15.157Z,1750884135.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:15.160Z,1750884135.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 388.259277 m,
      bearing: 235.803876 deg,
      approach rate: -0.667554 m/s,
      LOS rate: 0.000694 deg/s,
      cmd heading: 236.843312 deg,
      new cmd heading: 236.844083 deg.

2025-06-25T20:42:15.161Z,1750884135.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133709 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:15.235Z,1750884135.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249470
2025-06-25T20:42:15.485Z,1750884135.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499842
2025-06-25T20:42:15.561Z,1750884135.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:15.563Z,1750884135.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 387.990662 m,
      bearing: 235.804171 deg,
      approach rate: -0.665655 m/s,
      LOS rate: 0.000732 deg/s,
      cmd heading: 236.844077 deg,
      new cmd heading: 236.844963 deg.

2025-06-25T20:42:15.565Z,1750884135.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133724 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:15.737Z,1750884135.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751964
2025-06-25T20:42:15.984Z,1750884135.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:15.987Z,1750884135.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 387.697418 m,
      bearing: 235.804499 deg,
      approach rate: -0.693211 m/s,
      LOS rate: 0.000778 deg/s,
      cmd heading: 236.844951 deg,
      new cmd heading: 236.845938 deg.

2025-06-25T20:42:15.989Z,1750884135.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004063
2025-06-25T20:42:15.989Z,1750884135.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133741 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:16.241Z,1750884136.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255811
2025-06-25T20:42:16.379Z,1750884136.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:16.382Z,1750884136.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:16.387Z,1750884136.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 387.427246 m,
      bearing: 235.804771 deg,
      approach rate: -0.679413 m/s,
      LOS rate: 0.000684 deg/s,
      cmd heading: 236.845935 deg,
      new cmd heading: 236.846751 deg.

2025-06-25T20:42:16.390Z,1750884136.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133756 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:16.493Z,1750884136.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508167
2025-06-25T20:42:16.745Z,1750884136.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760018
2025-06-25T20:42:16.808Z,1750884136.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:16.811Z,1750884136.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 387.121460 m,
      bearing: 235.805007 deg,
      approach rate: -0.717478 m/s,
      LOS rate: 0.000554 deg/s,
      cmd heading: 236.846754 deg,
      new cmd heading: 236.847463 deg.

2025-06-25T20:42:16.811Z,1750884136.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133768 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:16.000Z,1750884137.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014967
2025-06-25T20:42:17.178Z,1750884137.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:17.181Z,1750884137.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 386.859222 m,
      bearing: 235.805199 deg,
      approach rate: -0.708729 m/s,
      LOS rate: 0.000519 deg/s,
      cmd heading: 236.847465 deg,
      new cmd heading: 236.848041 deg.

2025-06-25T20:42:17.182Z,1750884137.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133778 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:17.251Z,1750884137.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265741
2025-06-25T20:42:17.501Z,1750884137.501 [DAT](INFO): DAT read: Rx Time:20:42:18.2270

2025-06-25T20:42:17.502Z,1750884137.502 [DAT](INFO): Rx dataTimestamp_ set to:1750884137.501713
2025-06-25T20:42:17.503Z,1750884137.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518230
2025-06-25T20:42:17.577Z,1750884137.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.96 m.
2025-06-25T20:42:17.579Z,1750884137.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.956665 m,
      nav range: 386.576904 m,
      bearing: 235.805406 deg,
      approach rate: -0.707277 m/s,
      LOS rate: 0.000520 deg/s,
      cmd heading: 236.848038 deg,
      new cmd heading: 236.848661 deg.

2025-06-25T20:42:17.593Z,1750884137.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133789 target range: 400.956665 and range: 404.80 m.
2025-06-25T20:42:17.753Z,1750884137.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767955
2025-06-25T20:42:18.011Z,1750884138.011 [DAT](INFO): DAT read: 20:42:18.2270 LVL= 14656, 16193, 14466, 21267, AGC= 68, IDX= 402,-0.08,-2.355, 2.272,-2.313,-3.095, PHS= 0.828,-0.870, 0.779, RAW= 148.6,  -8.8, CAL= 154.7, -17.1, ROT= 355.3,  17.1

2025-06-25T20:42:18.012Z,1750884138.012 [DAT](INFO): got valid direction response:
 20:42:18.2270 LVL= 14656, 16193, 14466, 21267, AGC= 68, IDX= 402,-0.08,-2.355, 2.272,-2.313,-3.095, PHS= 0.828,-0.870, 0.779, RAW= 148.6,  -8.8, CAL= 154.7, -17.1, ROT= 355.3,  17.1

2025-06-25T20:42:18.013Z,1750884138.013 [DAT](INFO): DAT read: Bearing 355.3,  17.1 (Local)

2025-06-25T20:42:18.013Z,1750884138.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  17.1 (Local)

2025-06-25T20:42:18.015Z,1750884138.015 [DAT](INFO): DAT read: Range 10 to 50 : 402.4 m  (Round-trip  536.6 ms) speed  0.4 m/s

2025-06-25T20:42:18.016Z,1750884138.016 [DAT](INFO): DAT read: user:600>

2025-06-25T20:42:18.016Z,1750884138.016 [DAT](INFO): DAT read: Tx time:20:42:19.3363

2025-06-25T20:42:18.017Z,1750884138.017 [DAT](INFO): Ping request sent.
2025-06-25T20:42:18.017Z,1750884138.017 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:18.017Z,1750884138.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:18.018Z,1750884138.018 [DAT](INFO): direction in FSK: [0.952579,-0.078316,-0.294040]
2025-06-25T20:42:18.018Z,1750884138.018 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:18.019Z,1750884138.019 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:18.054Z,1750884138.054 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:18.054Z,1750884138.054 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:18.085Z,1750884138.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 402.399994 m,
      deltaT: 4.032127 s,
      deltaX: -2.399994 m,
      approachRate: -0.595218 m/s,
      rangeRepo size: 4

2025-06-25T20:42:18.087Z,1750884138.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 398.579926 m,
      bearing: 233.705210 deg,
      lat: 36.906048 deg,
      lon: -122.116174 deg,
      deltaT: 4.032127 s,
      deltaX: -2.376740 m,
      approachRate: -0.589451 m/s,
      posRepo size: 4

2025-06-25T20:42:18.088Z,1750884138.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:18.090Z,1750884138.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 386.074188 m,
      bearing: 233.706629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000520 deg/s,
      cmd heading: 236.848667 deg,
      new cmd heading: 236.849451 deg.

2025-06-25T20:42:18.091Z,1750884138.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133803 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:18.257Z,1750884138.257 [DAT](INFO): DAT read: TxSync time:20:42:19.3355

2025-06-25T20:42:18.426Z,1750884138.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:18.432Z,1750884138.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:18.435Z,1750884138.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 385.814056 m,
      bearing: 233.705154 deg,
      approach rate: -0.747638 m/s,
      LOS rate: -0.004242 deg/s,
      cmd heading: 236.849459 deg,
      new cmd heading: 236.845031 deg.

2025-06-25T20:42:18.440Z,1750884138.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133726 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:18.509Z,1750884138.509 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:18.509Z,1750884138.509 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:18.510Z,1750884138.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:18.716Z,1750884138.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:42:18.761Z,1750884138.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744284
2025-06-25T20:42:18.827Z,1750884138.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:18.830Z,1750884138.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 385.513428 m,
      bearing: 233.703678 deg,
      approach rate: -0.753487 m/s,
      LOS rate: -0.003702 deg/s,
      cmd heading: 236.845033 deg,
      new cmd heading: 236.840601 deg.

2025-06-25T20:42:18.831Z,1750884138.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133648 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:19.016Z,1750884139.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998701
2025-06-25T20:42:19.210Z,1750884139.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:19.213Z,1750884139.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 385.246613 m,
      bearing: 233.702419 deg,
      approach rate: -0.695824 m/s,
      LOS rate: -0.003286 deg/s,
      cmd heading: 236.840607 deg,
      new cmd heading: 236.836827 deg.

2025-06-25T20:42:19.214Z,1750884139.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133583 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:19.266Z,1750884139.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248740
2025-06-25T20:42:19.517Z,1750884139.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499951
2025-06-25T20:42:19.602Z,1750884139.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:19.625Z,1750884139.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 384.951691 m,
      bearing: 233.701060 deg,
      approach rate: -0.753655 m/s,
      LOS rate: -0.003474 deg/s,
      cmd heading: 236.836837 deg,
      new cmd heading: 236.832759 deg.

2025-06-25T20:42:19.626Z,1750884139.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133512 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:19.722Z,1750884139.722 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:42:19.770Z,1750884139.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753315
2025-06-25T20:42:20.021Z,1750884140.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003956
2025-06-25T20:42:20.053Z,1750884140.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:20.056Z,1750884140.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 384.619049 m,
      bearing: 233.699907 deg,
      approach rate: -0.736616 m/s,
      LOS rate: -0.002557 deg/s,
      cmd heading: 236.832766 deg,
      new cmd heading: 236.829302 deg.

2025-06-25T20:42:20.057Z,1750884140.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133451 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:20.273Z,1750884140.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256564
2025-06-25T20:42:20.407Z,1750884140.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:20.410Z,1750884140.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 384.358795 m,
      bearing: 233.698986 deg,
      approach rate: -0.736320 m/s,
      LOS rate: -0.002607 deg/s,
      cmd heading: 236.829296 deg,
      new cmd heading: 236.826531 deg.

2025-06-25T20:42:20.411Z,1750884140.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133403 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:20.525Z,1750884140.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507998
2025-06-25T20:42:20.777Z,1750884140.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759844
2025-06-25T20:42:20.842Z,1750884140.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:20.845Z,1750884140.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:20.847Z,1750884140.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 384.042084 m,
      bearing: 233.697906 deg,
      approach rate: -0.723497 m/s,
      LOS rate: -0.002469 deg/s,
      cmd heading: 236.826537 deg,
      new cmd heading: 236.823294 deg.

2025-06-25T20:42:20.865Z,1750884140.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133346 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:21.029Z,1750884141.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011979
2025-06-25T20:42:21.234Z,1750884141.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:21.240Z,1750884141.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 383.768341 m,
      bearing: 233.696959 deg,
      approach rate: -0.703535 m/s,
      LOS rate: -0.002435 deg/s,
      cmd heading: 236.823286 deg,
      new cmd heading: 236.820444 deg.

2025-06-25T20:42:21.241Z,1750884141.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133296 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:21.281Z,1750884141.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264245
2025-06-25T20:42:21.533Z,1750884141.533 [DAT](INFO): DAT read: Rx Time:20:42:22.2726

2025-06-25T20:42:21.533Z,1750884141.533 [DAT](INFO): Rx dataTimestamp_ set to:1750884141.532953
2025-06-25T20:42:21.534Z,1750884141.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516945
2025-06-25T20:42:21.624Z,1750884141.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.58 m.
2025-06-25T20:42:21.627Z,1750884141.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.579926 m,
      nav range: 383.476746 m,
      bearing: 233.695951 deg,
      approach rate: -0.747135 m/s,
      LOS rate: -0.002585 deg/s,
      cmd heading: 236.820444 deg,
      new cmd heading: 236.817418 deg.

2025-06-25T20:42:21.628Z,1750884141.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133244 target range: 398.579926 and range: 402.40 m.
2025-06-25T20:42:21.785Z,1750884141.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767996
2025-06-25T20:42:22.043Z,1750884142.043 [DAT](INFO): DAT read: 20:42:22.2726 LVL= 22960, 23217, 24562, 29299, AGC= 71, IDX= 390,-0.37,-1.645,-3.130,-1.726,-2.212, PHS= 0.656,-0.871, 0.483, RAW= 144.1,  -3.8, CAL= 149.1, -12.8, ROT=   0.9,  12.8

2025-06-25T20:42:22.057Z,1750884142.057 [DAT](INFO): got valid direction response:
 20:42:22.2726 LVL= 22960, 23217, 24562, 29299, AGC= 71, IDX= 390,-0.37,-1.645,-3.130,-1.726,-2.212, PHS= 0.656,-0.871, 0.483, RAW= 144.1,  -3.8, CAL= 149.1, -12.8, ROT=   0.9,  12.8

2025-06-25T20:42:22.058Z,1750884142.058 [DAT](INFO): DAT read: Bearing   0.9,  12.8 (Local)

2025-06-25T20:42:22.058Z,1750884142.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  12.8 (Local)

2025-06-25T20:42:22.059Z,1750884142.059 [DAT](INFO): DAT read: Range 10 to 50 : 399.1 m  (Round-trip  532.2 ms) speed  0.7 m/s

2025-06-25T20:42:22.060Z,1750884142.060 [DAT](INFO): DAT read: user:601>

2025-06-25T20:42:22.061Z,1750884142.061 [DAT](INFO): DAT read: Tx time:20:42:23.3863

2025-06-25T20:42:22.061Z,1750884142.061 [DAT](INFO): Ping request sent.
2025-06-25T20:42:22.061Z,1750884142.061 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:22.062Z,1750884142.062 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:22.063Z,1750884142.063 [DAT](INFO): direction in FSK: [0.975029,0.015317,-0.221548]
2025-06-25T20:42:22.063Z,1750884142.063 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:22.063Z,1750884142.063 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:22.098Z,1750884142.098 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:22.099Z,1750884142.099 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:22.193Z,1750884142.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 399.100006 m,
      deltaT: 4.031992 s,
      deltaX: -3.299988 m,
      approachRate: -0.818451 m/s,
      rangeRepo size: 4

2025-06-25T20:42:22.195Z,1750884142.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 395.311554 m,
      bearing: 238.679024 deg,
      lat: 36.906151 deg,
      lon: -122.116267 deg,
      deltaT: 4.031992 s,
      deltaX: -3.268372 m,
      approachRate: -0.810610 m/s,
      posRepo size: 4

2025-06-25T20:42:22.195Z,1750884142.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:22.202Z,1750884142.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 383.248718 m,
      bearing: 235.809806 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002585 deg/s,
      cmd heading: 236.817412 deg,
      new cmd heading: 236.813040 deg.

2025-06-25T20:42:22.203Z,1750884142.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133167 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:22.291Z,1750884142.291 [DAT](INFO): DAT read: TxSync time:20:42:23.3855

2025-06-25T20:42:22.505Z,1750884142.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:22.507Z,1750884142.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 383.021637 m,
      bearing: 235.810375 deg,
      approach rate: -0.716056 m/s,
      LOS rate: 0.001793 deg/s,
      cmd heading: 236.813040 deg,
      new cmd heading: 236.814747 deg.

2025-06-25T20:42:22.513Z,1750884142.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133197 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:22.899Z,1750884142.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:22.901Z,1750884142.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:22.924Z,1750884142.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 382.748322 m,
      bearing: 235.811731 deg,
      approach rate: -0.689289 m/s,
      LOS rate: 0.003423 deg/s,
      cmd heading: 236.814734 deg,
      new cmd heading: 236.818806 deg.

2025-06-25T20:42:22.925Z,1750884142.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133268 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:23.048Z,1750884143.048 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:23.049Z,1750884143.049 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:23.049Z,1750884143.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:23.290Z,1750884143.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:23.293Z,1750884143.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 382.482452 m,
      bearing: 235.813022 deg,
      approach rate: -0.683894 m/s,
      LOS rate: 0.003323 deg/s,
      cmd heading: 236.818805 deg,
      new cmd heading: 236.822681 deg.

2025-06-25T20:42:23.294Z,1750884143.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133336 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:23.301Z,1750884143.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239506
2025-06-25T20:42:23.553Z,1750884143.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491422
2025-06-25T20:42:23.697Z,1750884143.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:23.702Z,1750884143.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 382.206421 m,
      bearing: 235.814368 deg,
      approach rate: -0.680247 m/s,
      LOS rate: 0.003319 deg/s,
      cmd heading: 236.822685 deg,
      new cmd heading: 236.826725 deg.

2025-06-25T20:42:23.702Z,1750884143.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133406 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:23.805Z,1750884143.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743569
2025-06-25T20:42:24.057Z,1750884144.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995342
2025-06-25T20:42:24.133Z,1750884144.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:24.135Z,1750884144.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 381.931519 m,
      bearing: 235.815452 deg,
      approach rate: -0.629410 m/s,
      LOS rate: 0.002484 deg/s,
      cmd heading: 236.826728 deg,
      new cmd heading: 236.829983 deg.

2025-06-25T20:42:24.140Z,1750884144.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133463 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:24.309Z,1750884144.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247421
2025-06-25T20:42:24.498Z,1750884144.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:24.501Z,1750884144.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 381.672516 m,
      bearing: 235.816463 deg,
      approach rate: -0.708604 m/s,
      LOS rate: 0.002766 deg/s,
      cmd heading: 236.829979 deg,
      new cmd heading: 236.833012 deg.

2025-06-25T20:42:24.502Z,1750884144.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133516 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:24.561Z,1750884144.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499897
2025-06-25T20:42:24.813Z,1750884144.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751583
2025-06-25T20:42:24.929Z,1750884144.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:24.931Z,1750884144.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:24.934Z,1750884144.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 381.391235 m,
      bearing: 235.817382 deg,
      approach rate: -0.649259 m/s,
      LOS rate: 0.002125 deg/s,
      cmd heading: 236.833012 deg,
      new cmd heading: 236.835773 deg.

2025-06-25T20:42:24.935Z,1750884144.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133564 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:25.065Z,1750884145.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003427
2025-06-25T20:42:25.313Z,1750884145.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:25.315Z,1750884145.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 381.142914 m,
      bearing: 235.818158 deg,
      approach rate: -0.651125 m/s,
      LOS rate: 0.002035 deg/s,
      cmd heading: 236.835771 deg,
      new cmd heading: 236.838100 deg.

2025-06-25T20:42:25.317Z,1750884145.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255505
2025-06-25T20:42:25.318Z,1750884145.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133605 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:25.569Z,1750884145.569 [DAT](INFO): DAT read: Rx Time:20:42:26.3056

2025-06-25T20:42:25.569Z,1750884145.569 [DAT](INFO): Rx dataTimestamp_ set to:1750884145.568958
2025-06-25T20:42:25.570Z,1750884145.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508425
2025-06-25T20:42:25.707Z,1750884145.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.31 m.
2025-06-25T20:42:25.710Z,1750884145.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.311554 m,
      nav range: 380.886444 m,
      bearing: 235.818903 deg,
      approach rate: -0.650206 m/s,
      LOS rate: 0.001891 deg/s,
      cmd heading: 236.838094 deg,
      new cmd heading: 236.840331 deg.

2025-06-25T20:42:25.711Z,1750884145.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133644 target range: 395.311554 and range: 399.10 m.
2025-06-25T20:42:25.821Z,1750884145.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759672
2025-06-25T20:42:26.089Z,1750884146.089 [DAT](INFO): DAT read: 20:42:26.3056 LVL= 29552, 28561, 27330, 30867, AGC= 71, IDX= 400,-0.08,-0.916,-2.320,-0.878,-1.482, PHS= 0.654,-0.791, 0.600, RAW= 148.1,  -6.6, CAL= 153.6, -15.1, ROT= 356.4,  15.1

2025-06-25T20:42:26.090Z,1750884146.090 [DAT](INFO): got valid direction response:
 20:42:26.3056 LVL= 29552, 28561, 27330, 30867, AGC= 71, IDX= 400,-0.08,-0.916,-2.320,-0.878,-1.482, PHS= 0.654,-0.791, 0.600, RAW= 148.1,  -6.6, CAL= 153.6, -15.1, ROT= 356.4,  15.1

2025-06-25T20:42:26.091Z,1750884146.091 [DAT](INFO): DAT read: Bearing 356.4,  15.1 (Local)

2025-06-25T20:42:26.091Z,1750884146.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  15.1 (Local)

2025-06-25T20:42:26.122Z,1750884146.122 [DAT](INFO): DAT read: Range 10 to 50 : 386.4 m  (Round-trip  515.2 ms) speed  0.4 m/s

2025-06-25T20:42:26.123Z,1750884146.123 [DAT](INFO): DAT read: user:602>

2025-06-25T20:42:26.123Z,1750884146.123 [DAT](INFO): DAT read: Tx time:20:42:27.3863

2025-06-25T20:42:26.124Z,1750884146.124 [DAT](INFO): Ping request sent.
2025-06-25T20:42:26.124Z,1750884146.124 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:26.124Z,1750884146.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:26.125Z,1750884146.125 [DAT](INFO): direction in FSK: [0.963567,-0.060623,-0.260505]
2025-06-25T20:42:26.125Z,1750884146.125 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:26.126Z,1750884146.126 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:26.169Z,1750884146.169 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:26.169Z,1750884146.169 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:26.282Z,1750884146.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 386.399994 m,
      deltaT: 4.035898 s,
      deltaX: -12.700012 m,
      approachRate: -3.146762 m/s,
      rangeRepo size: 4

2025-06-25T20:42:26.288Z,1750884146.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 382.732758 m,
      bearing: 234.622458 deg,
      lat: 36.906151 deg,
      lon: -122.116267 deg,
      deltaT: 4.035898 s,
      deltaX: -12.578796 m,
      approachRate: -3.116728 m/s,
      posRepo size: 4

2025-06-25T20:42:26.289Z,1750884146.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:26.291Z,1750884146.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 380.529083 m,
      bearing: 235.820389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001891 deg/s,
      cmd heading: 236.840334 deg,
      new cmd heading: 236.843590 deg.

2025-06-25T20:42:26.293Z,1750884146.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133700 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:26.327Z,1750884146.327 [DAT](INFO): DAT read: TxSync time:20:42:27.3855

2025-06-25T20:42:26.612Z,1750884146.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:26.615Z,1750884146.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 380.310760 m,
      bearing: 235.821299 deg,
      approach rate: -0.660575 m/s,
      LOS rate: 0.002753 deg/s,
      cmd heading: 236.843585 deg,
      new cmd heading: 236.846314 deg.

2025-06-25T20:42:26.616Z,1750884146.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133748 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:26.997Z,1750884146.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:26.000Z,1750884147.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:27.002Z,1750884147.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 380.053101 m,
      bearing: 235.821808 deg,
      approach rate: -0.664437 m/s,
      LOS rate: 0.001313 deg/s,
      cmd heading: 236.846317 deg,
      new cmd heading: 236.847845 deg.

2025-06-25T20:42:27.003Z,1750884147.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133775 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:27.081Z,1750884147.081 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:27.082Z,1750884147.082 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:27.082Z,1750884147.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:27.333Z,1750884147.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208991
2025-06-25T20:42:27.397Z,1750884147.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:27.400Z,1750884147.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 379.797485 m,
      bearing: 235.822307 deg,
      approach rate: -0.643059 m/s,
      LOS rate: 0.001258 deg/s,
      cmd heading: 236.847847 deg,
      new cmd heading: 236.849347 deg.

2025-06-25T20:42:27.401Z,1750884147.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133801 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:27.585Z,1750884147.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460740
2025-06-25T20:42:27.839Z,1750884147.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715000
2025-06-25T20:42:27.863Z,1750884147.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:27.869Z,1750884147.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 379.503723 m,
      bearing: 235.822846 deg,
      approach rate: -0.630929 m/s,
      LOS rate: 0.001159 deg/s,
      cmd heading: 236.849350 deg,
      new cmd heading: 236.850969 deg.

2025-06-25T20:42:27.870Z,1750884147.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133829 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:28.089Z,1750884148.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964857
2025-06-25T20:42:28.241Z,1750884148.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:28.243Z,1750884148.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 379.265442 m,
      bearing: 235.822552 deg,
      approach rate: -0.630125 m/s,
      LOS rate: -0.000779 deg/s,
      cmd heading: 236.850962 deg,
      new cmd heading: 236.850078 deg.

2025-06-25T20:42:28.249Z,1750884148.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133814 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:28.341Z,1750884148.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217336
2025-06-25T20:42:28.593Z,1750884148.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468945
2025-06-25T20:42:28.601Z,1750884148.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:28.604Z,1750884148.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 379.008057 m,
      bearing: 235.822213 deg,
      approach rate: -0.713639 m/s,
      LOS rate: -0.000941 deg/s,
      cmd heading: 236.850087 deg,
      new cmd heading: 236.849069 deg.

2025-06-25T20:42:28.605Z,1750884148.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133796 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:28.845Z,1750884148.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720931
2025-06-25T20:42:28.992Z,1750884148.992 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,  65.46,  62.07
2025-06-25T20:42:29.005Z,1750884149.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:29.007Z,1750884149.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:29.010Z,1750884149.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 378.737305 m,
      bearing: 235.821839 deg,
      approach rate: -0.667023 m/s,
      LOS rate: -0.000921 deg/s,
      cmd heading: 236.849076 deg,
      new cmd heading: 236.847955 deg.

2025-06-25T20:42:29.011Z,1750884149.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133777 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:29.098Z,1750884149.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973682
2025-06-25T20:42:29.349Z,1750884149.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224956
2025-06-25T20:42:29.407Z,1750884149.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:29.410Z,1750884149.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 378.471802 m,
      bearing: 235.821477 deg,
      approach rate: -0.664653 m/s,
      LOS rate: -0.000908 deg/s,
      cmd heading: 236.847956 deg,
      new cmd heading: 236.846868 deg.

2025-06-25T20:42:29.411Z,1750884149.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133758 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:29.602Z,1750884149.602 [DAT](INFO): DAT read: Rx Time:20:42:30.3023

2025-06-25T20:42:29.602Z,1750884149.602 [DAT](INFO): Rx dataTimestamp_ set to:1750884149.602060
2025-06-25T20:42:29.603Z,1750884149.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479248
2025-06-25T20:42:29.855Z,1750884149.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730961
2025-06-25T20:42:29.876Z,1750884149.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.73 m.
2025-06-25T20:42:29.879Z,1750884149.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.732758 m,
      nav range: 378.203888 m,
      bearing: 235.821126 deg,
      approach rate: -0.570683 m/s,
      LOS rate: -0.000747 deg/s,
      cmd heading: 236.846864 deg,
      new cmd heading: 236.845811 deg.

2025-06-25T20:42:29.884Z,1750884149.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133739 target range: 382.732758 and range: 386.40 m.
2025-06-25T20:42:30.114Z,1750884150.114 [DAT](INFO): DAT read: 20:42:30.3023 LVL= 21008, 31089, 20754, 32755, AGC= 69, IDX= 405, 0.13, 1.897, 0.406, 1.772, 1.396, PHS= 0.589,-0.943, 0.373, RAW= 142.5,  -0.3, CAL= 146.8,  -9.3, ROT=   3.2,   9.3

2025-06-25T20:42:30.115Z,1750884150.115 [DAT](INFO): got valid direction response:
 20:42:30.3023 LVL= 21008, 31089, 20754, 32755, AGC= 69, IDX= 405, 0.13, 1.897, 0.406, 1.772, 1.396, PHS= 0.589,-0.943, 0.373, RAW= 142.5,  -0.3, CAL= 146.8,  -9.3, ROT=   3.2,   9.3

2025-06-25T20:42:30.117Z,1750884150.117 [DAT](INFO): DAT read: Bearing   3.2,   9.3 (Local)

2025-06-25T20:42:30.117Z,1750884150.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,   9.3 (Local)

2025-06-25T20:42:30.119Z,1750884150.119 [DAT](INFO): DAT read: Range 10 to 50 : 383.9 m  (Round-trip  511.9 ms) speed  0.5 m/s

2025-06-25T20:42:30.120Z,1750884150.120 [DAT](INFO): DAT read: user:603>

2025-06-25T20:42:30.121Z,1750884150.121 [DAT](INFO): DAT read: Tx time:20:42:31.3863

2025-06-25T20:42:30.122Z,1750884150.122 [DAT](INFO): Ping request sent.
2025-06-25T20:42:30.122Z,1750884150.122 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:30.122Z,1750884150.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:30.123Z,1750884150.123 [DAT](INFO): direction in FSK: [0.985317,0.055088,-0.161604]
2025-06-25T20:42:30.124Z,1750884150.124 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:30.124Z,1750884150.124 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:30.127Z,1750884150.127 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:30.131Z,1750884150.131 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:30.321Z,1750884150.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 383.899994 m,
      deltaT: 4.034176 s,
      deltaX: -2.500000 m,
      approachRate: -0.619705 m/s,
      rangeRepo size: 4

2025-06-25T20:42:30.323Z,1750884150.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 380.253998 m,
      bearing: 240.840736 deg,
      lat: 36.906151 deg,
      lon: -122.116267 deg,
      deltaT: 4.034176 s,
      deltaX: -2.478760 m,
      approachRate: -0.614440 m/s,
      posRepo size: 4

2025-06-25T20:42:30.324Z,1750884150.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:30.327Z,1750884150.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 377.870270 m,
      bearing: 235.819957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000747 deg/s,
      cmd heading: 236.845798 deg,
      new cmd heading: 236.844822 deg.

2025-06-25T20:42:30.329Z,1750884150.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133722 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:30.360Z,1750884150.360 [DAT](INFO): DAT read: TxSync time:20:42:31.3855

2025-06-25T20:42:30.629Z,1750884150.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:30.637Z,1750884150.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 377.648376 m,
      bearing: 235.819211 deg,
      approach rate: -0.698976 m/s,
      LOS rate: -0.002353 deg/s,
      cmd heading: 236.844814 deg,
      new cmd heading: 236.842573 deg.

2025-06-25T20:42:30.638Z,1750884150.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133683 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:31.073Z,1750884151.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:31.080Z,1750884151.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:31.082Z,1750884151.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 377.338776 m,
      bearing: 235.819083 deg,
      approach rate: -0.693501 m/s,
      LOS rate: -0.000287 deg/s,
      cmd heading: 236.842574 deg,
      new cmd heading: 236.842190 deg.

2025-06-25T20:42:31.083Z,1750884151.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133676 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:31.113Z,1750884151.113 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:31.113Z,1750884151.113 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:31.113Z,1750884151.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:31.365Z,1750884151.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242568
2025-06-25T20:42:31.427Z,1750884151.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:31.430Z,1750884151.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 377.072632 m,
      bearing: 235.819026 deg,
      approach rate: -0.756499 m/s,
      LOS rate: -0.000161 deg/s,
      cmd heading: 236.842192 deg,
      new cmd heading: 236.842022 deg.

2025-06-25T20:42:31.431Z,1750884151.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133673 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:31.617Z,1750884151.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494732
2025-06-25T20:42:31.861Z,1750884151.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:31.871Z,1750884151.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748964
2025-06-25T20:42:31.887Z,1750884151.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 376.788422 m,
      bearing: 235.819015 deg,
      approach rate: -0.664424 m/s,
      LOS rate: -0.000027 deg/s,
      cmd heading: 236.842028 deg,
      new cmd heading: 236.841993 deg.

2025-06-25T20:42:31.902Z,1750884151.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133673 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:32.121Z,1750884152.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998665
2025-06-25T20:42:32.220Z,1750884152.220 [BPC1](INFO): Calculating totals. Valid battery stick count: 43. Valid reserve battery stick count: 4.
2025-06-25T20:42:32.223Z,1750884152.223 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 42, 46.
2025-06-25T20:42:32.287Z,1750884152.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:32.294Z,1750884152.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 376.463043 m,
      bearing: 235.818773 deg,
      approach rate: -0.753477 m/s,
      LOS rate: -0.000559 deg/s,
      cmd heading: 236.842000 deg,
      new cmd heading: 236.841276 deg.

2025-06-25T20:42:32.295Z,1750884152.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133660 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:32.374Z,1750884152.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251193
2025-06-25T20:42:32.625Z,1750884152.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502793
2025-06-25T20:42:32.659Z,1750884152.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:32.663Z,1750884152.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 376.190460 m,
      bearing: 235.818555 deg,
      approach rate: -0.733456 m/s,
      LOS rate: -0.000587 deg/s,
      cmd heading: 236.841263 deg,
      new cmd heading: 236.840608 deg.

2025-06-25T20:42:32.665Z,1750884152.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133648 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:32.879Z,1750884152.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756787
2025-06-25T20:42:33.065Z,1750884153.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:33.068Z,1750884153.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 375.901276 m,
      bearing: 235.819194 deg,
      approach rate: -0.710898 m/s,
      LOS rate: 0.001571 deg/s,
      cmd heading: 236.840607 deg,
      new cmd heading: 236.842524 deg.

2025-06-25T20:42:33.069Z,1750884153.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133682 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:33.131Z,1750884153.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008693
2025-06-25T20:42:33.381Z,1750884153.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258684
2025-06-25T20:42:33.448Z,1750884153.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:33.450Z,1750884153.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:33.453Z,1750884153.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 375.630585 m,
      bearing: 235.819761 deg,
      approach rate: -0.703689 m/s,
      LOS rate: 0.001475 deg/s,
      cmd heading: 236.842520 deg,
      new cmd heading: 236.844222 deg.

2025-06-25T20:42:33.454Z,1750884153.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133711 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:33.633Z,1750884153.633 [DAT](INFO): DAT read: Rx Time:20:42:34.2984

2025-06-25T20:42:33.634Z,1750884153.634 [DAT](INFO): Rx dataTimestamp_ set to:1750884153.633673
2025-06-25T20:42:33.635Z,1750884153.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512709
2025-06-25T20:42:33.853Z,1750884153.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.25 m.
2025-06-25T20:42:33.856Z,1750884153.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 380.253998 m,
      nav range: 375.349518 m,
      bearing: 235.820332 deg,
      approach rate: -0.697049 m/s,
      LOS rate: 0.001418 deg/s,
      cmd heading: 236.844213 deg,
      new cmd heading: 236.845929 deg.

2025-06-25T20:42:33.857Z,1750884153.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133741 target range: 380.253998 and range: 383.90 m.
2025-06-25T20:42:33.887Z,1750884153.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764792
2025-06-25T20:42:34.143Z,1750884154.143 [DAT](INFO): DAT read: 20:42:34.2984 LVL= 17952, 21873, 16194, 23171, AGC= 72, IDX= 397,-0.09,-1.897, 2.901,-2.038,-2.399, PHS= 0.591,-0.936, 0.358, RAW= 141.9,  -0.2, CAL= 146.2,  -9.2, ROT=   3.8,   9.2

2025-06-25T20:42:34.145Z,1750884154.145 [DAT](INFO): got valid direction response:
 20:42:34.2984 LVL= 17952, 21873, 16194, 23171, AGC= 72, IDX= 397,-0.09,-1.897, 2.901,-2.038,-2.399, PHS= 0.591,-0.936, 0.358, RAW= 141.9,  -0.2, CAL= 146.2,  -9.2, ROT=   3.8,   9.2

2025-06-25T20:42:34.146Z,1750884154.146 [DAT](INFO): DAT read: Bearing   3.8,   9.2 (Local)

2025-06-25T20:42:34.147Z,1750884154.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,   9.2 (Local)

2025-06-25T20:42:34.149Z,1750884154.149 [DAT](INFO): DAT read: Range 10 to 50 : 380.9 m  (Round-trip  507.9 ms) speed  0.5 m/s

2025-06-25T20:42:34.150Z,1750884154.150 [DAT](INFO): DAT read: user:604>

2025-06-25T20:42:34.151Z,1750884154.151 [DAT](INFO): DAT read: Tx time:20:42:35.3864

2025-06-25T20:42:34.152Z,1750884154.152 [DAT](INFO): Ping request sent.
2025-06-25T20:42:34.153Z,1750884154.153 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:34.153Z,1750884154.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:34.154Z,1750884154.154 [DAT](INFO): direction in FSK: [0.984966,0.065421,-0.159881]
2025-06-25T20:42:34.154Z,1750884154.154 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:34.154Z,1750884154.154 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:34.166Z,1750884154.166 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:34.167Z,1750884154.167 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:34.337Z,1750884154.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 380.899994 m,
      deltaT: 4.029844 s,
      deltaX: -3.000000 m,
      approachRate: -0.744446 m/s,
      rangeRepo size: 4

2025-06-25T20:42:34.339Z,1750884154.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 377.282166 m,
      bearing: 241.280643 deg,
      lat: 36.906273 deg,
      lon: -122.116434 deg,
      deltaT: 4.029844 s,
      deltaX: -2.971832 m,
      approachRate: -0.737456 m/s,
      posRepo size: 4

2025-06-25T20:42:34.344Z,1750884154.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:34.346Z,1750884154.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 380.211914 m,
      bearing: 238.754216 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001418 deg/s,
      cmd heading: 236.845935 deg,
      new cmd heading: 236.847972 deg.

2025-06-25T20:42:34.347Z,1750884154.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133777 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:34.389Z,1750884154.389 [DAT](INFO): DAT read: TxSync time:20:42:35.3856

2025-06-25T20:42:34.676Z,1750884154.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:34.679Z,1750884154.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 379.960236 m,
      bearing: 238.757170 deg,
      approach rate: -0.731572 m/s,
      LOS rate: 0.008594 deg/s,
      cmd heading: 236.847984 deg,
      new cmd heading: 236.856853 deg.

2025-06-25T20:42:34.680Z,1750884154.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133932 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:35.093Z,1750884155.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:35.103Z,1750884155.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 379.683685 m,
      bearing: 238.760895 deg,
      approach rate: -0.662734 m/s,
      LOS rate: 0.008933 deg/s,
      cmd heading: 236.856863 deg,
      new cmd heading: 236.868046 deg.

2025-06-25T20:42:35.109Z,1750884155.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134127 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:35.465Z,1750884155.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:35.467Z,1750884155.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:35.470Z,1750884155.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 379.415924 m,
      bearing: 238.764437 deg,
      approach rate: -0.716230 m/s,
      LOS rate: 0.009480 deg/s,
      cmd heading: 236.868037 deg,
      new cmd heading: 236.878669 deg.

2025-06-25T20:42:35.471Z,1750884155.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134313 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:35.649Z,1750884155.649 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:35.649Z,1750884155.649 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:35.650Z,1750884155.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:35.903Z,1750884155.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750123
2025-06-25T20:42:35.967Z,1750884155.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:35.974Z,1750884155.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 379.103577 m,
      bearing: 238.768574 deg,
      approach rate: -0.624734 m/s,
      LOS rate: 0.008282 deg/s,
      cmd heading: 236.878665 deg,
      new cmd heading: 236.891087 deg.

2025-06-25T20:42:35.975Z,1750884155.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134530 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:36.153Z,1750884156.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000173
2025-06-25T20:42:36.318Z,1750884156.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:36.320Z,1750884156.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 378.839935 m,
      bearing: 238.772267 deg,
      approach rate: -0.752614 m/s,
      LOS rate: 0.010550 deg/s,
      cmd heading: 236.891096 deg,
      new cmd heading: 236.902183 deg.

2025-06-25T20:42:36.321Z,1750884156.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134723 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:36.326Z,1750884156.326 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-25T20:32:36.3Z
2025-06-25T20:42:36.326Z,1750884156.326 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-25T20:42:36.326Z,1750884156.326 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:42:36.326Z,1750884156.326 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-25T20:42:36.326Z,1750884156.326 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:42:36.327Z,1750884156.327 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-25T20:42:36.406Z,1750884156.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253363
2025-06-25T20:42:36.657Z,1750884156.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504418
2025-06-25T20:42:36.716Z,1750884156.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:36.718Z,1750884156.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 378.574921 m,
      bearing: 238.775904 deg,
      approach rate: -0.665841 m/s,
      LOS rate: 0.009144 deg/s,
      cmd heading: 236.902188 deg,
      new cmd heading: 236.913106 deg.

2025-06-25T20:42:36.719Z,1750884156.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134914 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:36.723Z,1750884156.723 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-25T20:42:36.723Z,1750884156.723 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-25T20:42:36.723Z,1750884156.723 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-25T20:42:36.723Z,1750884156.723 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:42:36.740Z,1750884156.740 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-25T20:42:36.911Z,1750884156.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758537
2025-06-25T20:42:37.161Z,1750884157.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008132
2025-06-25T20:42:37.261Z,1750884157.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:37.265Z,1750884157.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 378.209900 m,
      bearing: 238.779969 deg,
      approach rate: -0.668731 m/s,
      LOS rate: 0.007454 deg/s,
      cmd heading: 236.913116 deg,
      new cmd heading: 236.925322 deg.

2025-06-25T20:42:37.266Z,1750884157.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135127 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:37.413Z,1750884157.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260107
2025-06-25T20:42:37.643Z,1750884157.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:37.651Z,1750884157.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:37.659Z,1750884157.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 377.965057 m,
      bearing: 238.782663 deg,
      approach rate: -0.628783 m/s,
      LOS rate: 0.006923 deg/s,
      cmd heading: 236.925329 deg,
      new cmd heading: 236.933416 deg.

2025-06-25T20:42:37.666Z,1750884157.666 [DAT](INFO): DAT read: Rx Time:20:42:38.3085

2025-06-25T20:42:37.666Z,1750884157.666 [DAT](INFO): Rx dataTimestamp_ set to:1750884157.665960
2025-06-25T20:42:37.667Z,1750884157.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514524
2025-06-25T20:42:37.673Z,1750884157.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135268 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:37.917Z,1750884157.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764641
2025-06-25T20:42:38.085Z,1750884158.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.28 m.
2025-06-25T20:42:38.088Z,1750884158.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.282166 m,
      nav range: 377.661194 m,
      bearing: 238.785487 deg,
      approach rate: -0.699241 m/s,
      LOS rate: 0.006505 deg/s,
      cmd heading: 236.933416 deg,
      new cmd heading: 236.941896 deg.

2025-06-25T20:42:38.089Z,1750884158.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135416 target range: 377.282166 and range: 380.90 m.
2025-06-25T20:42:38.178Z,1750884158.178 [DAT](INFO): DAT read: 20:42:38.3085 LVL= 18144, 17889, 19426, 18867, AGC= 70, IDX=  36, 0.14, 2.632, 1.212, 2.682, 2.008, PHS= 0.712,-0.749, 0.671, RAW= 148.6,  -8.8, CAL= 154.7, -17.1, ROT= 355.3,  17.1

2025-06-25T20:42:38.179Z,1750884158.179 [DAT](INFO): got valid direction response:
 20:42:38.3085 LVL= 18144, 17889, 19426, 18867, AGC= 70, IDX=  36, 0.14, 2.632, 1.212, 2.682, 2.008, PHS= 0.712,-0.749, 0.671, RAW= 148.6,  -8.8, CAL= 154.7, -17.1, ROT= 355.3,  17.1

2025-06-25T20:42:38.180Z,1750884158.180 [DAT](INFO): DAT read: Bearing 355.3,  17.1 (Local)

2025-06-25T20:42:38.181Z,1750884158.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  17.1 (Local)

2025-06-25T20:42:38.183Z,1750884158.183 [DAT](INFO): DAT read: Range 10 to 50 : 388.5 m  (Round-trip  518.0 ms) speed  0.4 m/s

2025-06-25T20:42:38.186Z,1750884158.186 [DAT](INFO): DAT read: user:605>

2025-06-25T20:42:38.187Z,1750884158.187 [DAT](INFO): DAT read: Tx time:20:42:39.3864

2025-06-25T20:42:38.187Z,1750884158.187 [DAT](INFO): Ping request sent.
2025-06-25T20:42:38.187Z,1750884158.187 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:38.188Z,1750884158.188 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:38.189Z,1750884158.189 [DAT](INFO): direction in FSK: [0.952579,-0.078316,-0.294040]
2025-06-25T20:42:38.190Z,1750884158.190 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:38.190Z,1750884158.190 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:38.202Z,1750884158.202 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:38.202Z,1750884158.202 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:38.425Z,1750884158.425 [DAT](INFO): DAT read: TxSync time:20:42:39.3856

2025-06-25T20:42:38.468Z,1750884158.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 388.500000 m,
      deltaT: 4.034839 s,
      deltaX: 7.600006 m,
      approachRate: 1.883596 m/s,
      rangeRepo size: 4

2025-06-25T20:42:38.470Z,1750884158.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 384.809296 m,
      bearing: 234.104592 deg,
      lat: 36.906273 deg,
      lon: -122.116434 deg,
      deltaT: 4.034839 s,
      deltaX: 7.527130 m,
      approachRate: 1.865534 m/s,
      posRepo size: 4

2025-06-25T20:42:38.471Z,1750884158.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:38.474Z,1750884158.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 377.422668 m,
      bearing: 238.787683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006505 deg/s,
      cmd heading: 236.941885 deg,
      new cmd heading: 236.949340 deg.

2025-06-25T20:42:38.475Z,1750884158.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135546 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:38.841Z,1750884158.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:38.843Z,1750884158.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 377.159363 m,
      bearing: 238.790156 deg,
      approach rate: -0.705365 m/s,
      LOS rate: 0.006629 deg/s,
      cmd heading: 236.949344 deg,
      new cmd heading: 236.956767 deg.

2025-06-25T20:42:38.844Z,1750884158.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135676 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:39.282Z,1750884159.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:39.289Z,1750884159.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 376.876526 m,
      bearing: 238.792578 deg,
      approach rate: -0.640716 m/s,
      LOS rate: 0.005491 deg/s,
      cmd heading: 236.956775 deg,
      new cmd heading: 236.964046 deg.

2025-06-25T20:42:39.290Z,1750884159.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135803 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:39.658Z,1750884159.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:39.661Z,1750884159.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:39.665Z,1750884159.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 376.612244 m,
      bearing: 238.794859 deg,
      approach rate: -0.697627 m/s,
      LOS rate: 0.006026 deg/s,
      cmd heading: 236.964042 deg,
      new cmd heading: 236.970891 deg.

2025-06-25T20:42:39.667Z,1750884159.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135922 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:39.684Z,1750884159.684 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:39.685Z,1750884159.685 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:39.685Z,1750884159.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:39.939Z,1750884159.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751783
2025-06-25T20:42:40.100Z,1750884160.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:40.103Z,1750884160.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 376.315125 m,
      bearing: 238.796802 deg,
      approach rate: -0.677087 m/s,
      LOS rate: 0.004431 deg/s,
      cmd heading: 236.970900 deg,
      new cmd heading: 236.976733 deg.

2025-06-25T20:42:40.103Z,1750884160.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136024 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:40.189Z,1750884160.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001876
2025-06-25T20:42:40.441Z,1750884160.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253721
2025-06-25T20:42:40.470Z,1750884160.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:40.477Z,1750884160.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 376.069733 m,
      bearing: 238.798379 deg,
      approach rate: -0.661890 m/s,
      LOS rate: 0.004257 deg/s,
      cmd heading: 236.976719 deg,
      new cmd heading: 236.981454 deg.

2025-06-25T20:42:40.478Z,1750884160.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136106 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:40.693Z,1750884160.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505690
2025-06-25T20:42:40.891Z,1750884160.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:40.895Z,1750884160.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 375.795441 m,
      bearing: 238.800145 deg,
      approach rate: -0.676517 m/s,
      LOS rate: 0.004358 deg/s,
      cmd heading: 236.981446 deg,
      new cmd heading: 236.986746 deg.

2025-06-25T20:42:40.896Z,1750884160.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136199 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:40.946Z,1750884160.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758774
2025-06-25T20:42:41.198Z,1750884161.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010181
2025-06-25T20:42:41.311Z,1750884161.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:41.317Z,1750884161.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 375.508789 m,
      bearing: 238.801671 deg,
      approach rate: -0.659527 m/s,
      LOS rate: 0.003514 deg/s,
      cmd heading: 236.986746 deg,
      new cmd heading: 236.991328 deg.

2025-06-25T20:42:41.321Z,1750884161.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136279 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:41.449Z,1750884161.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261697
2025-06-25T20:42:41.679Z,1750884161.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:41.681Z,1750884161.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:41.684Z,1750884161.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 375.249817 m,
      bearing: 238.803007 deg,
      approach rate: -0.698364 m/s,
      LOS rate: 0.003607 deg/s,
      cmd heading: 236.991336 deg,
      new cmd heading: 236.995348 deg.

2025-06-25T20:42:41.685Z,1750884161.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136349 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:41.718Z,1750884161.718 [DAT](INFO): DAT read: Rx Time:20:42:42.2914

2025-06-25T20:42:41.719Z,1750884161.719 [DAT](INFO): Rx dataTimestamp_ set to:1750884161.718001
2025-06-25T20:42:41.719Z,1750884161.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532064
2025-06-25T20:42:41.972Z,1750884161.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784274
2025-06-25T20:42:42.115Z,1750884162.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:42.118Z,1750884162.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 374.952972 m,
      bearing: 238.803612 deg,
      approach rate: -0.684193 m/s,
      LOS rate: 0.001393 deg/s,
      cmd heading: 236.995352 deg,
      new cmd heading: 236.997166 deg.

2025-06-25T20:42:42.119Z,1750884162.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136381 target range: 384.809296 and range: 388.50 m.
2025-06-25T20:42:42.222Z,1750884162.222 [DAT](INFO): DAT read: Range 10 to 50 : 375.6 m  (Round-trip  500.8 ms) speed  0.5 m/s

2025-06-25T20:42:42.223Z,1750884162.223 [DAT](INFO): DAT read: user:606>

2025-06-25T20:42:42.224Z,1750884162.224 [DAT](INFO): DAT read: Tx time:20:42:43.3864

2025-06-25T20:42:42.224Z,1750884162.224 [DAT](INFO): Ping request sent.
2025-06-25T20:42:42.224Z,1750884162.224 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:42.225Z,1750884162.225 [DAT](INFO): DAT read: TxSync time:20:42:43.3856

2025-06-25T20:42:42.225Z,1750884162.225 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:42:42.225Z,1750884162.225 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:42.226Z,1750884162.226 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:42.489Z,1750884162.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 375.600006 m,
      deltaT: 4.049215 s,
      deltaX: -12.899994 m,
      approachRate: -3.185801 m/s,
      rangeRepo size: 4

2025-06-25T20:42:42.490Z,1750884162.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:42.493Z,1750884162.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 374.697998 m,
      bearing: 238.804140 deg,
      approach rate: -0.683226 m/s,
      LOS rate: 0.001416 deg/s,
      cmd heading: 236.997155 deg,
      new cmd heading: 236.998740 deg.

2025-06-25T20:42:42.493Z,1750884162.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136408 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:42.881Z,1750884162.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:42.884Z,1750884162.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 374.429626 m,
      bearing: 238.804783 deg,
      approach rate: -0.682912 m/s,
      LOS rate: 0.001640 deg/s,
      cmd heading: 236.998740 deg,
      new cmd heading: 237.000673 deg.

2025-06-25T20:42:42.885Z,1750884162.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136442 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:43.326Z,1750884163.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:43.333Z,1750884163.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 374.127258 m,
      bearing: 238.807028 deg,
      approach rate: -0.679815 m/s,
      LOS rate: 0.005050 deg/s,
      cmd heading: 237.000679 deg,
      new cmd heading: 237.007417 deg.

2025-06-25T20:42:43.334Z,1750884163.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136560 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:43.693Z,1750884163.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:43.695Z,1750884163.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:43.697Z,1750884163.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 373.866791 m,
      bearing: 238.809004 deg,
      approach rate: -0.706770 m/s,
      LOS rate: 0.005365 deg/s,
      cmd heading: 237.007428 deg,
      new cmd heading: 237.013360 deg.

2025-06-25T20:42:43.698Z,1750884163.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136663 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:43.737Z,1750884163.737 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:43.737Z,1750884163.737 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:43.737Z,1750884163.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:43.989Z,1750884163.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764659
2025-06-25T20:42:44.128Z,1750884164.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:44.131Z,1750884164.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 373.565155 m,
      bearing: 238.811777 deg,
      approach rate: -0.696406 m/s,
      LOS rate: 0.006408 deg/s,
      cmd heading: 237.013356 deg,
      new cmd heading: 237.021682 deg.

2025-06-25T20:42:44.132Z,1750884164.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136809 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:44.242Z,1750884164.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017364
2025-06-25T20:42:44.493Z,1750884164.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268674
2025-06-25T20:42:44.517Z,1750884164.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:44.519Z,1750884164.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 373.308899 m,
      bearing: 238.814173 deg,
      approach rate: -0.658856 m/s,
      LOS rate: 0.006166 deg/s,
      cmd heading: 237.021689 deg,
      new cmd heading: 237.028883 deg.

2025-06-25T20:42:44.525Z,1750884164.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136934 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:44.745Z,1750884164.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520568
2025-06-25T20:42:44.925Z,1750884164.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:44.927Z,1750884164.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 373.016937 m,
      bearing: 238.816907 deg,
      approach rate: -0.715587 m/s,
      LOS rate: 0.006707 deg/s,
      cmd heading: 237.028874 deg,
      new cmd heading: 237.037084 deg.

2025-06-25T20:42:44.929Z,1750884164.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137077 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:44.000Z,1750884165.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775758
2025-06-25T20:42:45.249Z,1750884165.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024639
2025-06-25T20:42:45.367Z,1750884165.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:45.370Z,1750884165.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 372.705261 m,
      bearing: 238.820735 deg,
      approach rate: -0.705366 m/s,
      LOS rate: 0.008670 deg/s,
      cmd heading: 237.037071 deg,
      new cmd heading: 237.048564 deg.

2025-06-25T20:42:45.370Z,1750884165.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137278 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:45.501Z,1750884165.501 [DAT](INFO): DAT read: Rx Time:20:42:46.2877

2025-06-25T20:42:45.502Z,1750884165.502 [DAT](INFO): Rx dataTimestamp_ set to:1750884165.501494
2025-06-25T20:42:45.502Z,1750884165.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278145
2025-06-25T20:42:45.743Z,1750884165.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:45.745Z,1750884165.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.81 m.
2025-06-25T20:42:45.748Z,1750884165.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.809296 m,
      nav range: 372.437531 m,
      bearing: 238.824004 deg,
      approach rate: -0.707009 m/s,
      LOS rate: 0.008638 deg/s,
      cmd heading: 237.048573 deg,
      new cmd heading: 237.058386 deg.

2025-06-25T20:42:45.749Z,1750884165.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137449 target range: 384.809296 and range: 375.60 m.
2025-06-25T20:42:45.753Z,1750884165.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528691
2025-06-25T20:42:46.023Z,1750884166.023 [DAT](INFO): DAT read: 20:42:46.2877 LVL= 20672, 22161, 21346, 32755, AGC= 74, IDX= 399, 0.47,-0.142,-1.824,-0.169,-0.649, PHS= 0.595,-1.128, 0.477, RAW= 146.5,   0.7, CAL= 150.0,  -8.3, ROT=   0.0,   8.3

2025-06-25T20:42:46.032Z,1750884166.032 [DAT](INFO): got valid direction response:
 20:42:46.2877 LVL= 20672, 22161, 21346, 32755, AGC= 74, IDX= 399, 0.47,-0.142,-1.824,-0.169,-0.649, PHS= 0.595,-1.128, 0.477, RAW= 146.5,   0.7, CAL= 150.0,  -8.3, ROT=   0.0,   8.3

2025-06-25T20:42:46.033Z,1750884166.033 [DAT](INFO): DAT read: Bearing   0.0,   8.3 (Local)

2025-06-25T20:42:46.033Z,1750884166.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,   8.3 (Local)

2025-06-25T20:42:46.035Z,1750884166.035 [DAT](INFO): DAT read: Range 10 to 50 : 372.9 m  (Round-trip  497.2 ms) speed  0.4 m/s

2025-06-25T20:42:46.040Z,1750884166.040 [DAT](INFO): DAT read: user:607>

2025-06-25T20:42:46.041Z,1750884166.041 [DAT](INFO): DAT read: Tx time:20:42:47.3864

2025-06-25T20:42:46.041Z,1750884166.041 [DAT](INFO): Ping request sent.
2025-06-25T20:42:46.041Z,1750884166.041 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:46.041Z,1750884166.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:46.057Z,1750884166.057 [DAT](INFO): direction in FSK: [0.989526,0.000000,-0.144356]
2025-06-25T20:42:46.058Z,1750884166.058 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:46.059Z,1750884166.059 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:46.124Z,1750884166.124 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:46.125Z,1750884166.125 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:46.257Z,1750884166.257 [DAT](INFO): DAT read: TxSync time:20:42:47.3856

2025-06-25T20:42:46.263Z,1750884166.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.899994 m,
      deltaT: 3.785794 s,
      deltaX: -2.700012 m,
      approachRate: -0.713196 m/s,
      rangeRepo size: 4

2025-06-25T20:42:46.274Z,1750884166.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 369.356354 m,
      bearing: 237.865432 deg,
      lat: 36.906261 deg,
      lon: -122.116325 deg,
      deltaT: 7.835009 s,
      deltaX: -15.452942 m,
      approachRate: -1.972294 m/s,
      posRepo size: 4

2025-06-25T20:42:46.275Z,1750884166.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:46.281Z,1750884166.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 364.545715 m,
      bearing: 237.866769 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008638 deg/s,
      cmd heading: 237.058381 deg,
      new cmd heading: 237.071775 deg.

2025-06-25T20:42:46.282Z,1750884166.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137683 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:46.581Z,1750884166.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:46.588Z,1750884166.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 364.308197 m,
      bearing: 237.869701 deg,
      approach rate: -0.744812 m/s,
      LOS rate: 0.009200 deg/s,
      cmd heading: 237.071768 deg,
      new cmd heading: 237.080569 deg.

2025-06-25T20:42:46.589Z,1750884166.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137836 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:46.959Z,1750884166.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:46.962Z,1750884166.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 364.042633 m,
      bearing: 237.872957 deg,
      approach rate: -0.701859 m/s,
      LOS rate: 0.008613 deg/s,
      cmd heading: 237.080565 deg,
      new cmd heading: 237.090342 deg.

2025-06-25T20:42:46.963Z,1750884166.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138007 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:47.418Z,1750884167.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:47.421Z,1750884167.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 363.726685 m,
      bearing: 237.876289 deg,
      approach rate: -0.689466 m/s,
      LOS rate: 0.007276 deg/s,
      cmd heading: 237.090346 deg,
      new cmd heading: 237.100349 deg.

2025-06-25T20:42:47.422Z,1750884167.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138182 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:47.763Z,1750884167.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:47.782Z,1750884167.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:47.789Z,1750884167.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 363.487610 m,
      bearing: 237.878759 deg,
      approach rate: -0.656822 m/s,
      LOS rate: 0.006790 deg/s,
      cmd heading: 237.100345 deg,
      new cmd heading: 237.107760 deg.

2025-06-25T20:42:47.790Z,1750884167.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138311 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:48.021Z,1750884168.021 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:48.021Z,1750884168.021 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:48.021Z,1750884168.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:48.207Z,1750884168.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:48.213Z,1750884168.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 363.200378 m,
      bearing: 237.881310 deg,
      approach rate: -0.675933 m/s,
      LOS rate: 0.006009 deg/s,
      cmd heading: 237.107749 deg,
      new cmd heading: 237.115410 deg.

2025-06-25T20:42:48.214Z,1750884168.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138444 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:48.273Z,1750884168.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232214
2025-06-25T20:42:48.525Z,1750884168.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483811
2025-06-25T20:42:48.578Z,1750884168.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:48.581Z,1750884168.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 362.938385 m,
      bearing: 237.883588 deg,
      approach rate: -0.704911 m/s,
      LOS rate: 0.006133 deg/s,
      cmd heading: 237.115399 deg,
      new cmd heading: 237.122238 deg.

2025-06-25T20:42:48.582Z,1750884168.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138564 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:48.777Z,1750884168.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736373
2025-06-25T20:42:48.972Z,1750884168.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:48.975Z,1750884168.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 362.672638 m,
      bearing: 237.885846 deg,
      approach rate: -0.674199 m/s,
      LOS rate: 0.005732 deg/s,
      cmd heading: 237.122229 deg,
      new cmd heading: 237.129008 deg.

2025-06-25T20:42:48.976Z,1750884168.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138682 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:49.030Z,1750884169.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988895
2025-06-25T20:42:49.281Z,1750884169.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239759
2025-06-25T20:42:49.422Z,1750884169.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:49.429Z,1750884169.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 362.376068 m,
      bearing: 237.887107 deg,
      approach rate: -0.659755 m/s,
      LOS rate: 0.002809 deg/s,
      cmd heading: 237.129005 deg,
      new cmd heading: 237.132793 deg.

2025-06-25T20:42:49.430Z,1750884169.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138748 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:49.534Z,1750884169.534 [DAT](INFO): DAT read: Rx Time:20:42:50.2840

2025-06-25T20:42:49.535Z,1750884169.535 [DAT](INFO): Rx dataTimestamp_ set to:1750884169.534009
2025-06-25T20:42:49.535Z,1750884169.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494102
2025-06-25T20:42:49.785Z,1750884169.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743769
2025-06-25T20:42:49.791Z,1750884169.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:49.793Z,1750884169.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.36 m.
2025-06-25T20:42:49.796Z,1750884169.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.356354 m,
      nav range: 362.131104 m,
      bearing: 237.888124 deg,
      approach rate: -0.659404 m/s,
      LOS rate: 0.002738 deg/s,
      cmd heading: 237.132803 deg,
      new cmd heading: 237.135854 deg.

2025-06-25T20:42:49.797Z,1750884169.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138802 target range: 369.356354 and range: 372.90 m.
2025-06-25T20:42:49.841Z,1750884169.841 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:42:50.043Z,1750884170.043 [DAT](INFO): DAT read: 20:42:50.2840 LVL= 18416, 16161, 14914, 23747, AGC= 71, IDX= 409,-0.25, 1.416,-0.127, 1.373, 0.977, PHS= 0.527,-1.057, 0.392, RAW= 145.6,   1.8, CAL= 148.9,  -7.0, ROT=   1.1,   7.0

2025-06-25T20:42:50.044Z,1750884170.044 [DAT](INFO): got valid direction response:
 20:42:50.2840 LVL= 18416, 16161, 14914, 23747, AGC= 71, IDX= 409,-0.25, 1.416,-0.127, 1.373, 0.977, PHS= 0.527,-1.057, 0.392, RAW= 145.6,   1.8, CAL= 148.9,  -7.0, ROT=   1.1,   7.0

2025-06-25T20:42:50.045Z,1750884170.045 [DAT](INFO): DAT read: Bearing   1.1,   7.0 (Local)

2025-06-25T20:42:50.045Z,1750884170.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,   7.0 (Local)

2025-06-25T20:42:50.047Z,1750884170.047 [DAT](INFO): DAT read: Range 10 to 50 : 370.0 m  (Round-trip  493.4 ms) speed  0.4 m/s

2025-06-25T20:42:50.048Z,1750884170.048 [DAT](INFO): DAT read: user:608>

2025-06-25T20:42:50.049Z,1750884170.049 [DAT](INFO): DAT read: Tx time:20:42:51.3865

2025-06-25T20:42:50.049Z,1750884170.049 [DAT](INFO): Ping request sent.
2025-06-25T20:42:50.049Z,1750884170.049 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:42:50.049Z,1750884170.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:42:50.050Z,1750884170.050 [DAT](INFO): direction in FSK: [0.992363,0.019054,-0.121869]
2025-06-25T20:42:50.050Z,1750884170.050 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:50.051Z,1750884170.051 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:50.054Z,1750884170.054 [DAT](INFO): publishing transmit ping time
2025-06-25T20:42:50.054Z,1750884170.054 [DAT](INFO): publishing direction and range info
2025-06-25T20:42:50.289Z,1750884170.289 [DAT](INFO): DAT read: TxSync time:20:42:51.3857

2025-06-25T20:42:50.321Z,1750884170.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 370.000000 m,
      deltaT: 4.030393 s,
      deltaX: -2.899994 m,
      approachRate: -0.719531 m/s,
      rangeRepo size: 4

2025-06-25T20:42:50.323Z,1750884170.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.484100 m,
      bearing: 239.371019 deg,
      lat: 36.906330 deg,
      lon: -122.116386 deg,
      deltaT: 4.030393 s,
      deltaX: -2.872253 m,
      approachRate: -0.712648 m/s,
      posRepo size: 4

2025-06-25T20:42:50.327Z,1750884170.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:50.330Z,1750884170.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 362.409424 m,
      bearing: 239.372347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002738 deg/s,
      cmd heading: 237.135862 deg,
      new cmd heading: 237.140194 deg.

2025-06-25T20:42:50.331Z,1750884170.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138877 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:50.615Z,1750884170.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:50.618Z,1750884170.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 362.203003 m,
      bearing: 239.373700 deg,
      approach rate: -0.702047 m/s,
      LOS rate: 0.004604 deg/s,
      cmd heading: 237.140206 deg,
      new cmd heading: 237.144267 deg.

2025-06-25T20:42:50.619Z,1750884170.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138948 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:50.844Z,1750884170.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:42:51.012Z,1750884171.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:51.015Z,1750884171.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 361.938599 m,
      bearing: 239.375425 deg,
      approach rate: -0.666127 m/s,
      LOS rate: 0.004350 deg/s,
      cmd heading: 237.144277 deg,
      new cmd heading: 237.149457 deg.

2025-06-25T20:42:51.016Z,1750884171.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139039 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:51.449Z,1750884171.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:51.452Z,1750884171.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 361.651031 m,
      bearing: 239.376754 deg,
      approach rate: -0.657304 m/s,
      LOS rate: 0.003040 deg/s,
      cmd heading: 237.149468 deg,
      new cmd heading: 237.153458 deg.

2025-06-25T20:42:51.453Z,1750884171.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139109 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:51.819Z,1750884171.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:51.822Z,1750884171.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:51.824Z,1750884171.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 361.406860 m,
      bearing: 239.377885 deg,
      approach rate: -0.655711 m/s,
      LOS rate: 0.003038 deg/s,
      cmd heading: 237.153457 deg,
      new cmd heading: 237.156851 deg.

2025-06-25T20:42:51.825Z,1750884171.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139168 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:52.053Z,1750884172.053 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:52.053Z,1750884172.053 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:52.053Z,1750884172.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:42:52.255Z,1750884172.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:52.258Z,1750884172.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 361.122833 m,
      bearing: 239.379270 deg,
      approach rate: -0.655715 m/s,
      LOS rate: 0.003199 deg/s,
      cmd heading: 237.156845 deg,
      new cmd heading: 237.161002 deg.

2025-06-25T20:42:52.259Z,1750884172.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139240 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:52.305Z,1750884172.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255829
2025-06-25T20:42:52.557Z,1750884172.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507732
2025-06-25T20:42:52.644Z,1750884172.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:52.650Z,1750884172.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 360.870911 m,
      bearing: 239.380489 deg,
      approach rate: -0.647796 m/s,
      LOS rate: 0.003138 deg/s,
      cmd heading: 237.160998 deg,
      new cmd heading: 237.164658 deg.

2025-06-25T20:42:52.651Z,1750884172.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139304 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:52.809Z,1750884172.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759823
2025-06-25T20:42:53.034Z,1750884173.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:53.037Z,1750884173.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 360.612854 m,
      bearing: 239.381714 deg,
      approach rate: -0.660743 m/s,
      LOS rate: 0.003138 deg/s,
      cmd heading: 237.164659 deg,
      new cmd heading: 237.168336 deg.

2025-06-25T20:42:53.038Z,1750884173.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139369 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:53.061Z,1750884173.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011772
2025-06-25T20:42:53.313Z,1750884173.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263763
2025-06-25T20:42:53.459Z,1750884173.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:53.461Z,1750884173.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 360.329102 m,
      bearing: 239.383411 deg,
      approach rate: -0.668682 m/s,
      LOS rate: 0.004003 deg/s,
      cmd heading: 237.168347 deg,
      new cmd heading: 237.173443 deg.

2025-06-25T20:42:53.462Z,1750884173.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139458 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:53.565Z,1750884173.565 [DAT](INFO): DAT read: Rx Time:20:42:54.2807

2025-06-25T20:42:53.565Z,1750884173.565 [DAT](INFO): Rx dataTimestamp_ set to:1750884173.565124
2025-06-25T20:42:53.566Z,1750884173.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516958
2025-06-25T20:42:53.817Z,1750884173.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767920
2025-06-25T20:42:53.846Z,1750884173.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:53.848Z,1750884173.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:53.851Z,1750884173.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 360.068939 m,
      bearing: 239.384937 deg,
      approach rate: -0.668305 m/s,
      LOS rate: 0.003923 deg/s,
      cmd heading: 237.173456 deg,
      new cmd heading: 237.178037 deg.

2025-06-25T20:42:53.852Z,1750884173.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139538 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:54.077Z,1750884174.077 [DAT](INFO): DAT read: 20:42:54.2807 LVL= 27984, 27537, 21538, 32755, AGC= 70, IDX= 407,-0.09, 1.935, 0.499, 1.879, 1.567, PHS= 0.455,-1.021, 0.308, RAW= 144.8,   3.7, CAL= 147.9,  -4.9, ROT=   2.1,   4.9

2025-06-25T20:42:54.078Z,1750884174.078 [DAT](INFO): got valid direction response:
 20:42:54.2807 LVL= 27984, 27537, 21538, 32755, AGC= 70, IDX= 407,-0.09, 1.935, 0.499, 1.879, 1.567, PHS= 0.455,-1.021, 0.308, RAW= 144.8,   3.7, CAL= 147.9,  -4.9, ROT=   2.1,   4.9

2025-06-25T20:42:54.079Z,1750884174.079 [DAT](INFO): DAT read: $Error in header

2025-06-25T20:42:54.079Z,1750884174.079 [DAT](INFO): Received a bad header
2025-06-25T20:42:54.092Z,1750884174.092 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:42:54.093Z,1750884174.093 [DAT](INFO): direction in FSK: [0.995676,0.036510,-0.085417]
2025-06-25T20:42:54.096Z,1750884174.096 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:54.096Z,1750884174.096 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:54.096Z,1750884174.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:54.282Z,1750884174.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:54.285Z,1750884174.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 359.780518 m,
      bearing: 239.387147 deg,
      approach rate: -0.664816 m/s,
      LOS rate: 0.005098 deg/s,
      cmd heading: 237.178046 deg,
      new cmd heading: 237.184681 deg.

2025-06-25T20:42:54.286Z,1750884174.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139654 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:54.321Z,1750884174.321 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:54.321Z,1750884174.321 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:54.321Z,1750884174.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:54.573Z,1750884174.573 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:54.573Z,1750884174.573 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:54.573Z,1750884174.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:54.681Z,1750884174.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:54.688Z,1750884174.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 359.519135 m,
      bearing: 239.389130 deg,
      approach rate: -0.653888 m/s,
      LOS rate: 0.004965 deg/s,
      cmd heading: 237.184685 deg,
      new cmd heading: 237.190639 deg.

2025-06-25T20:42:54.689Z,1750884174.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139758 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:54.825Z,1750884174.825 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:54.825Z,1750884174.825 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:54.825Z,1750884174.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:55.057Z,1750884175.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:55.060Z,1750884175.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 359.257782 m,
      bearing: 239.391097 deg,
      approach rate: -0.695697 m/s,
      LOS rate: 0.005240 deg/s,
      cmd heading: 237.190641 deg,
      new cmd heading: 237.196546 deg.

2025-06-25T20:42:55.061Z,1750884175.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139861 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:55.079Z,1750884175.079 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:55.079Z,1750884175.079 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:55.079Z,1750884175.079 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:55.329Z,1750884175.329 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:55.329Z,1750884175.329 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:55.329Z,1750884175.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:55.491Z,1750884175.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:55.509Z,1750884175.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 358.963928 m,
      bearing: 239.393694 deg,
      approach rate: -0.678040 m/s,
      LOS rate: 0.005996 deg/s,
      cmd heading: 237.196542 deg,
      new cmd heading: 237.204337 deg.

2025-06-25T20:42:55.510Z,1750884175.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139997 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:55.581Z,1750884175.581 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:55.581Z,1750884175.581 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:55.581Z,1750884175.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:55.833Z,1750884175.833 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:55.833Z,1750884175.833 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:55.833Z,1750884175.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:55.892Z,1750884175.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:55.894Z,1750884175.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:55.901Z,1750884175.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 358.701630 m,
      bearing: 239.395986 deg,
      approach rate: -0.649556 m/s,
      LOS rate: 0.005680 deg/s,
      cmd heading: 237.204328 deg,
      new cmd heading: 237.211209 deg.

2025-06-25T20:42:55.902Z,1750884175.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140117 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:56.085Z,1750884176.085 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:56.085Z,1750884176.085 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:56.085Z,1750884176.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:56.324Z,1750884176.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:56.327Z,1750884176.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 358.391144 m,
      bearing: 239.398417 deg,
      approach rate: -0.722583 m/s,
      LOS rate: 0.005664 deg/s,
      cmd heading: 237.211213 deg,
      new cmd heading: 237.218514 deg.

2025-06-25T20:42:56.329Z,1750884176.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140244 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:56.337Z,1750884176.337 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:56.337Z,1750884176.337 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:56.337Z,1750884176.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:56.589Z,1750884176.589 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:56.589Z,1750884176.589 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:56.589Z,1750884176.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:56.708Z,1750884176.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:56.711Z,1750884176.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 358.124573 m,
      bearing: 239.400508 deg,
      approach rate: -0.693542 m/s,
      LOS rate: 0.005445 deg/s,
      cmd heading: 237.218508 deg,
      new cmd heading: 237.224786 deg.

2025-06-25T20:42:56.712Z,1750884176.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140354 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:56.841Z,1750884176.841 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:56.841Z,1750884176.841 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:56.841Z,1750884176.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:57.087Z,1750884177.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:57.090Z,1750884177.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 357.860657 m,
      bearing: 239.402579 deg,
      approach rate: -0.696567 m/s,
      LOS rate: 0.005469 deg/s,
      cmd heading: 237.224792 deg,
      new cmd heading: 237.231008 deg.

2025-06-25T20:42:57.091Z,1750884177.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140462 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:57.093Z,1750884177.093 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:57.093Z,1750884177.093 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:57.093Z,1750884177.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:57.345Z,1750884177.345 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:57.345Z,1750884177.345 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:57.345Z,1750884177.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:57.512Z,1750884177.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:57.518Z,1750884177.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 357.571472 m,
      bearing: 239.405171 deg,
      approach rate: -0.708275 m/s,
      LOS rate: 0.006354 deg/s,
      cmd heading: 237.231021 deg,
      new cmd heading: 237.238803 deg.

2025-06-25T20:42:57.519Z,1750884177.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140598 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:57.600Z,1750884177.600 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:57.601Z,1750884177.601 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:57.601Z,1750884177.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:57.848Z,1750884177.848 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:57.848Z,1750884177.848 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:57.849Z,1750884177.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:57.883Z,1750884177.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:57.886Z,1750884177.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 357.296967 m,
      bearing: 239.407647 deg,
      approach rate: -0.708424 m/s,
      LOS rate: 0.006396 deg/s,
      cmd heading: 237.238807 deg,
      new cmd heading: 237.246242 deg.

2025-06-25T20:42:57.887Z,1750884177.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140728 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:58.101Z,1750884178.101 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:58.101Z,1750884178.101 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:58.102Z,1750884178.102 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:58.353Z,1750884178.353 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:58.353Z,1750884178.353 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:58.353Z,1750884178.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:58.362Z,1750884178.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:42:58.365Z,1750884178.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:58.367Z,1750884178.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 356.958221 m,
      bearing: 239.410195 deg,
      approach rate: -0.703471 m/s,
      LOS rate: 0.005295 deg/s,
      cmd heading: 237.246238 deg,
      new cmd heading: 237.253887 deg.

2025-06-25T20:42:58.368Z,1750884178.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140862 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:58.604Z,1750884178.604 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:58.605Z,1750884178.605 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:58.605Z,1750884178.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:58.697Z,1750884178.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:58.700Z,1750884178.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 356.719391 m,
      bearing: 239.412062 deg,
      approach rate: -0.717489 m/s,
      LOS rate: 0.005614 deg/s,
      cmd heading: 237.253888 deg,
      new cmd heading: 237.259494 deg.

2025-06-25T20:42:58.701Z,1750884178.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140959 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:58.856Z,1750884178.856 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:58.857Z,1750884178.857 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:58.857Z,1750884178.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:59.093Z,1750884179.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:59.109Z,1750884179.109 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:59.109Z,1750884179.109 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:59.109Z,1750884179.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:59.095Z,1750884179.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 356.437683 m,
      bearing: 239.414291 deg,
      approach rate: -0.712425 m/s,
      LOS rate: 0.005641 deg/s,
      cmd heading: 237.259489 deg,
      new cmd heading: 237.266180 deg.

2025-06-25T20:42:59.117Z,1750884179.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141076 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:59.361Z,1750884179.361 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:59.361Z,1750884179.361 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:59.361Z,1750884179.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:59.534Z,1750884179.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:59.541Z,1750884179.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 356.143280 m,
      bearing: 239.416167 deg,
      approach rate: -0.667603 m/s,
      LOS rate: 0.004257 deg/s,
      cmd heading: 237.266182 deg,
      new cmd heading: 237.271814 deg.

2025-06-25T20:42:59.542Z,1750884179.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141174 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:42:59.613Z,1750884179.613 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:59.613Z,1750884179.613 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:59.613Z,1750884179.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:59.865Z,1750884179.865 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:42:59.865Z,1750884179.865 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:42:59.865Z,1750884179.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-25T20:42:59.923Z,1750884179.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:42:59.926Z,1750884179.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 355.862549 m,
      bearing: 239.417980 deg,
      approach rate: -0.721268 m/s,
      LOS rate: 0.004662 deg/s,
      cmd heading: 237.271811 deg,
      new cmd heading: 237.277254 deg.

2025-06-25T20:42:59.927Z,1750884179.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141269 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:00.116Z,1750884180.116 [DAT](INFO): Reached modem response timeout
2025-06-25T20:43:00.117Z,1750884180.117 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:43:00.117Z,1750884180.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:00.369Z,1750884180.369 [DAT](INFO): Reached modem response timeout
2025-06-25T20:43:00.369Z,1750884180.369 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:43:00.370Z,1750884180.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:00.414Z,1750884180.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:00.420Z,1750884180.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:00.423Z,1750884180.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 355.527344 m,
      bearing: 239.420656 deg,
      approach rate: -0.673927 m/s,
      LOS rate: 0.005386 deg/s,
      cmd heading: 237.277247 deg,
      new cmd heading: 237.285284 deg.

2025-06-25T20:43:00.428Z,1750884180.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141409 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:00.623Z,1750884180.623 [DAT](INFO): Reached modem response timeout
2025-06-25T20:43:00.624Z,1750884180.624 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:43:00.624Z,1750884180.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:00.723Z,1750884180.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:00.729Z,1750884180.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 355.316620 m,
      bearing: 239.422360 deg,
      approach rate: -0.697528 m/s,
      LOS rate: 0.005643 deg/s,
      cmd heading: 237.285280 deg,
      new cmd heading: 237.290394 deg.

2025-06-25T20:43:00.730Z,1750884180.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141499 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:00.872Z,1750884180.872 [DAT](INFO): Reached modem response timeout
2025-06-25T20:43:00.873Z,1750884180.873 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:43:00.873Z,1750884180.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:01.125Z,1750884181.125 [DAT](INFO): DAT read: Response Not Received

2025-06-25T20:43:01.125Z,1750884181.125 [DAT](INFO): response not received
2025-06-25T20:43:01.126Z,1750884181.126 [DAT](INFO): DAT read: user:610>

2025-06-25T20:43:01.126Z,1750884181.126 [DAT](INFO): DAT read: Tx time:20:43:02.3365

2025-06-25T20:43:01.127Z,1750884181.127 [DAT](INFO): Ping request sent.
2025-06-25T20:43:01.127Z,1750884181.127 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:01.127Z,1750884181.127 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:01.128Z,1750884181.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-06-25T20:43:01.132Z,1750884181.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:01.135Z,1750884181.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 355.027435 m,
      bearing: 239.424701 deg,
      approach rate: -0.706474 m/s,
      LOS rate: 0.005724 deg/s,
      cmd heading: 237.290389 deg,
      new cmd heading: 237.297418 deg.

2025-06-25T20:43:01.136Z,1750884181.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141621 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:01.377Z,1750884181.377 [DAT](INFO): DAT read: TxSync time:20:43:02.3357

2025-06-25T20:43:01.378Z,1750884181.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251048
2025-06-25T20:43:01.561Z,1750884181.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:01.563Z,1750884181.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 354.751007 m,
      bearing: 239.427086 deg,
      approach rate: -0.644734 m/s,
      LOS rate: 0.005566 deg/s,
      cmd heading: 237.297410 deg,
      new cmd heading: 237.304569 deg.

2025-06-25T20:43:01.569Z,1750884181.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141746 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:01.630Z,1750884181.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502791
2025-06-25T20:43:01.881Z,1750884181.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753934
2025-06-25T20:43:01.932Z,1750884181.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:01.935Z,1750884181.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 354.502869 m,
      bearing: 239.429319 deg,
      approach rate: -0.675576 m/s,
      LOS rate: 0.006086 deg/s,
      cmd heading: 237.304568 deg,
      new cmd heading: 237.311274 deg.

2025-06-25T20:43:01.941Z,1750884181.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141863 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:02.133Z,1750884182.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006021
2025-06-25T20:43:02.385Z,1750884182.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257869
2025-06-25T20:43:02.428Z,1750884182.428 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-25T20:43:02.428Z,1750884182.428 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-25T20:43:02.428Z,1750884182.428 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-25T20:43:02.467Z,1750884182.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:02.469Z,1750884182.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:02.472Z,1750884182.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 354.135101 m,
      bearing: 239.432636 deg,
      approach rate: -0.679740 m/s,
      LOS rate: 0.006136 deg/s,
      cmd heading: 237.311262 deg,
      new cmd heading: 237.321221 deg.

2025-06-25T20:43:02.473Z,1750884182.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142037 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:02.641Z,1750884182.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514225
2025-06-25T20:43:02.720Z,1750884182.720 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-25T20:43:02.812Z,1750884182.812 [RDI_Pathfinder](INFO): Powering down
2025-06-25T20:43:02.833Z,1750884182.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:02.836Z,1750884182.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 353.892517 m,
      bearing: 239.434849 deg,
      approach rate: -0.665588 m/s,
      LOS rate: 0.006077 deg/s,
      cmd heading: 237.321234 deg,
      new cmd heading: 237.327879 deg.

2025-06-25T20:43:02.837Z,1750884182.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142153 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:02.894Z,1750884182.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766766
2025-06-25T20:43:03.145Z,1750884183.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017969
2025-06-25T20:43:03.179Z,1750884183.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:03.183Z,1750884183.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 353.662140 m,
      bearing: 239.436954 deg,
      approach rate: -0.665820 m/s,
      LOS rate: 0.006087 deg/s,
      cmd heading: 237.327873 deg,
      new cmd heading: 237.334192 deg.

2025-06-25T20:43:03.206Z,1750884183.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142263 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:03.397Z,1750884183.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269934
2025-06-25T20:43:03.559Z,1750884183.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:03.562Z,1750884183.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 353.409332 m,
      bearing: 239.439159 deg,
      approach rate: -0.665411 m/s,
      LOS rate: 0.005807 deg/s,
      cmd heading: 237.334184 deg,
      new cmd heading: 237.340802 deg.

2025-06-25T20:43:03.563Z,1750884183.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142378 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:03.650Z,1750884183.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522587
2025-06-25T20:43:03.832Z,1750884183.832 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-25T20:43:03.832Z,1750884183.832 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-25T20:43:03.901Z,1750884183.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773852
2025-06-25T20:43:03.955Z,1750884183.955 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-25T20:43:03.973Z,1750884183.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:03.976Z,1750884183.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 353.133942 m,
      bearing: 239.441504 deg,
      approach rate: -0.665418 m/s,
      LOS rate: 0.005671 deg/s,
      cmd heading: 237.340795 deg,
      new cmd heading: 237.347836 deg.

2025-06-25T20:43:03.977Z,1750884183.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142501 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:04.153Z,1750884184.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025929
2025-06-25T20:43:04.371Z,1750884184.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:04.374Z,1750884184.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 352.869476 m,
      bearing: 239.443696 deg,
      approach rate: -0.665328 m/s,
      LOS rate: 0.005520 deg/s,
      cmd heading: 237.347844 deg,
      new cmd heading: 237.354427 deg.

2025-06-25T20:43:04.374Z,1750884184.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142616 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:04.405Z,1750884184.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278131
2025-06-25T20:43:04.657Z,1750884184.657 [DAT](INFO): DAT read: Rx Time:20:43:05.2358

2025-06-25T20:43:04.658Z,1750884184.658 [DAT](INFO): Rx dataTimestamp_ set to:1750884184.657702
2025-06-25T20:43:04.659Z,1750884184.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531927
2025-06-25T20:43:04.771Z,1750884184.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:04.789Z,1750884184.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.48 m.
2025-06-25T20:43:04.796Z,1750884184.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.484100 m,
      nav range: 352.601776 m,
      bearing: 239.445875 deg,
      approach rate: -0.639609 m/s,
      LOS rate: 0.005210 deg/s,
      cmd heading: 237.354429 deg,
      new cmd heading: 237.360971 deg.

2025-06-25T20:43:04.797Z,1750884184.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142730 target range: 366.484100 and range: 370.00 m.
2025-06-25T20:43:04.913Z,1750884184.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786064
2025-06-25T20:43:05.168Z,1750884185.168 [DAT](INFO): DAT read: 20:43:05.2358 LVL= 27360, 32753, 23570, 32755, AGC= 73, IDX= 496, 0.48, 2.558, 1.232, 2.577, 2.016, PHS= 0.630,-0.737, 0.558, RAW= 147.3,  -6.8, CAL= 152.9, -15.5, ROT= 357.1,  15.5

2025-06-25T20:43:05.169Z,1750884185.169 [DAT](INFO): got valid direction response:
 20:43:05.2358 LVL= 27360, 32753, 23570, 32755, AGC= 73, IDX= 496, 0.48, 2.558, 1.232, 2.577, 2.016, PHS= 0.630,-0.737, 0.558, RAW= 147.3,  -6.8, CAL= 152.9, -15.5, ROT= 357.1,  15.5

2025-06-25T20:43:05.171Z,1750884185.171 [DAT](INFO): DAT read: Bearing 357.1,  15.5 (Local)

2025-06-25T20:43:05.171Z,1750884185.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  15.5 (Local)

2025-06-25T20:43:05.173Z,1750884185.173 [DAT](INFO): DAT read: Range 10 to 50 : 371.3 m  (Round-trip  495.1 ms) speed  0.4 m/s

2025-06-25T20:43:05.173Z,1750884185.173 [DAT](INFO): DAT read: user:611>

2025-06-25T20:43:05.174Z,1750884185.174 [DAT](INFO): DAT read: Tx time:20:43:06.3366

2025-06-25T20:43:05.174Z,1750884185.174 [DAT](INFO): Ping request sent.
2025-06-25T20:43:05.175Z,1750884185.175 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:05.175Z,1750884185.175 [DAT](INFO): DAT read: TxSync time:20:43:06.3358

2025-06-25T20:43:05.178Z,1750884185.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:05.179Z,1750884185.179 [DAT](INFO): direction in FSK: [0.962396,-0.048753,-0.267238]
2025-06-25T20:43:05.179Z,1750884185.179 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:05.184Z,1750884185.184 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:05.187Z,1750884185.187 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:05.187Z,1750884185.187 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:05.277Z,1750884185.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 371.299988 m,
      deltaT: 15.124956 s,
      deltaX: 1.299988 m,
      approachRate: 0.085950 m/s,
      rangeRepo size: 4

2025-06-25T20:43:05.279Z,1750884185.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 367.769348 m,
      bearing: 236.222557 deg,
      lat: 36.906261 deg,
      lon: -122.116325 deg,
      deltaT: 15.124956 s,
      deltaX: 1.285248 m,
      approachRate: 0.084975 m/s,
      posRepo size: 4

2025-06-25T20:43:05.284Z,1750884185.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:05.287Z,1750884185.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 351.658508 m,
      bearing: 237.922424 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005210 deg/s,
      cmd heading: 237.360958 deg,
      new cmd heading: 237.368576 deg.

2025-06-25T20:43:05.296Z,1750884185.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142863 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:05.593Z,1750884185.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:05.596Z,1750884185.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 351.417786 m,
      bearing: 237.923406 deg,
      approach rate: -0.760370 m/s,
      LOS rate: 0.003102 deg/s,
      cmd heading: 237.368581 deg,
      new cmd heading: 237.371527 deg.

2025-06-25T20:43:05.597Z,1750884185.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142915 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:06.025Z,1750884186.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:06.027Z,1750884186.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 351.131897 m,
      bearing: 237.924573 deg,
      approach rate: -0.662723 m/s,
      LOS rate: 0.002708 deg/s,
      cmd heading: 237.371531 deg,
      new cmd heading: 237.375036 deg.

2025-06-25T20:43:06.028Z,1750884186.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142976 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:06.461Z,1750884186.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:06.484Z,1750884186.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 350.839874 m,
      bearing: 237.925691 deg,
      approach rate: -0.668665 m/s,
      LOS rate: 0.002561 deg/s,
      cmd heading: 237.375028 deg,
      new cmd heading: 237.378384 deg.

2025-06-25T20:43:06.485Z,1750884186.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143034 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:06.896Z,1750884186.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:06.898Z,1750884186.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:06.921Z,1750884186.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 350.548706 m,
      bearing: 237.926790 deg,
      approach rate: -0.666469 m/s,
      LOS rate: 0.002518 deg/s,
      cmd heading: 237.378389 deg,
      new cmd heading: 237.381689 deg.

2025-06-25T20:43:06.922Z,1750884186.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143092 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:06.929Z,1750884186.929 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:06.929Z,1750884186.929 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:06.929Z,1750884186.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:07.181Z,1750884187.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006665
2025-06-25T20:43:07.407Z,1750884187.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:07.410Z,1750884187.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 350.209564 m,
      bearing: 237.928089 deg,
      approach rate: -0.666598 m/s,
      LOS rate: 0.002556 deg/s,
      cmd heading: 237.381695 deg,
      new cmd heading: 237.385595 deg.

2025-06-25T20:43:07.411Z,1750884187.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143160 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:07.433Z,1750884187.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258254
2025-06-25T20:43:07.685Z,1750884187.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510167
2025-06-25T20:43:07.800Z,1750884187.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:07.802Z,1750884187.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 349.948059 m,
      bearing: 237.929140 deg,
      approach rate: -0.666191 m/s,
      LOS rate: 0.002679 deg/s,
      cmd heading: 237.385602 deg,
      new cmd heading: 237.388756 deg.

2025-06-25T20:43:07.803Z,1750884187.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143215 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:07.937Z,1750884187.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762279
2025-06-25T20:43:08.189Z,1750884188.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014262
2025-06-25T20:43:08.226Z,1750884188.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:08.233Z,1750884188.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 349.677490 m,
      bearing: 237.930295 deg,
      approach rate: -0.634831 m/s,
      LOS rate: 0.002712 deg/s,
      cmd heading: 237.388743 deg,
      new cmd heading: 237.392211 deg.

2025-06-25T20:43:08.234Z,1750884188.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143276 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:08.441Z,1750884188.441 [DAT](INFO): DAT read: Rx Time:20:43:09.2325

2025-06-25T20:43:08.441Z,1750884188.441 [DAT](INFO): Rx dataTimestamp_ set to:1750884188.440962
2025-06-25T20:43:08.442Z,1750884188.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267227
2025-06-25T20:43:08.615Z,1750884188.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.77 m.
2025-06-25T20:43:08.618Z,1750884188.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.769348 m,
      nav range: 349.405121 m,
      bearing: 237.931479 deg,
      approach rate: -0.700223 m/s,
      LOS rate: 0.003048 deg/s,
      cmd heading: 237.392213 deg,
      new cmd heading: 237.395770 deg.

2025-06-25T20:43:08.619Z,1750884188.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143338 target range: 367.769348 and range: 371.30 m.
2025-06-25T20:43:08.693Z,1750884188.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518375
2025-06-25T20:43:08.962Z,1750884188.962 [DAT](INFO): DAT read: 20:43:09.2325 LVL= 18336, 20465, 15698, 25379, AGC= 73, IDX= 407, 0.05,-0.110,-1.755,-0.070,-0.861, PHS= 0.839,-0.847, 0.788, RAW= 148.5,  -9.4, CAL= 154.8, -17.7, ROT= 355.2,  17.7

2025-06-25T20:43:08.965Z,1750884188.965 [DAT](INFO): got valid direction response:
 20:43:09.2325 LVL= 18336, 20465, 15698, 25379, AGC= 73, IDX= 407, 0.05,-0.110,-1.755,-0.070,-0.861, PHS= 0.839,-0.847, 0.788, RAW= 148.5,  -9.4, CAL= 154.8, -17.7, ROT= 355.2,  17.7

2025-06-25T20:43:08.996Z,1750884188.996 [DAT](INFO): DAT read: Bearing 355.2,  17.7 (Local)

2025-06-25T20:43:08.996Z,1750884188.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  17.7 (Local)

2025-06-25T20:43:08.998Z,1750884188.998 [DAT](INFO): DAT read: Range 10 to 50 : 368.7 m  (Round-trip  491.7 ms) speed  0.5 m/s

2025-06-25T20:43:08.999Z,1750884188.999 [DAT](INFO): DAT read: user:612>

2025-06-25T20:43:08.999Z,1750884188.999 [DAT](INFO): DAT read: Tx time:20:43:10.3366

2025-06-25T20:43:09.004Z,1750884189.004 [DAT](INFO): Ping request sent.
2025-06-25T20:43:09.004Z,1750884189.004 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:09.004Z,1750884189.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:09.005Z,1750884189.005 [DAT](INFO): direction in FSK: [0.949320,-0.079717,-0.304033]
2025-06-25T20:43:09.006Z,1750884189.006 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:09.006Z,1750884189.006 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:09.014Z,1750884189.014 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:09.014Z,1750884189.014 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:09.113Z,1750884189.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 368.700012 m,
      deltaT: 3.784289 s,
      deltaX: -2.599976 m,
      approachRate: -0.687045 m/s,
      rangeRepo size: 4

2025-06-25T20:43:09.115Z,1750884189.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 365.192871 m,
      bearing: 234.256752 deg,
      lat: 36.906201 deg,
      lon: -122.116225 deg,
      deltaT: 3.784289 s,
      deltaX: -2.576477 m,
      approachRate: -0.680835 m/s,
      posRepo size: 4

2025-06-25T20:43:09.115Z,1750884189.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:09.122Z,1750884189.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 345.253082 m,
      bearing: 236.221748 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003048 deg/s,
      cmd heading: 237.395765 deg,
      new cmd heading: 237.400273 deg.

2025-06-25T20:43:09.123Z,1750884189.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143416 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:09.198Z,1750884189.198 [DAT](INFO): DAT read: TxSync time:20:43:10.3358

2025-06-25T20:43:09.447Z,1750884189.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:09.465Z,1750884189.465 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:09.465Z,1750884189.465 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:09.465Z,1750884189.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:09.482Z,1750884189.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:09.488Z,1750884189.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 345.002197 m,
      bearing: 236.221611 deg,
      approach rate: -0.671219 m/s,
      LOS rate: -0.000368 deg/s,
      cmd heading: 237.400273 deg,
      new cmd heading: 237.399861 deg.

2025-06-25T20:43:09.489Z,1750884189.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143409 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:09.718Z,1750884189.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.713970
2025-06-25T20:43:09.822Z,1750884189.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:09.825Z,1750884189.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 344.750031 m,
      bearing: 236.221491 deg,
      approach rate: -0.739757 m/s,
      LOS rate: -0.000351 deg/s,
      cmd heading: 237.399863 deg,
      new cmd heading: 237.399504 deg.

2025-06-25T20:43:09.826Z,1750884189.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143403 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:09.969Z,1750884189.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964663
2025-06-25T20:43:10.221Z,1750884190.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216785
2025-06-25T20:43:10.241Z,1750884190.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:10.248Z,1750884190.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 344.482849 m,
      bearing: 236.221419 deg,
      approach rate: -0.638214 m/s,
      LOS rate: -0.000172 deg/s,
      cmd heading: 237.399508 deg,
      new cmd heading: 237.399292 deg.

2025-06-25T20:43:10.249Z,1750884190.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143399 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:10.474Z,1750884190.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469527
2025-06-25T20:43:10.641Z,1750884190.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:10.645Z,1750884190.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 344.206818 m,
      bearing: 236.221396 deg,
      approach rate: -0.690393 m/s,
      LOS rate: -0.000059 deg/s,
      cmd heading: 237.399289 deg,
      new cmd heading: 237.399219 deg.

2025-06-25T20:43:10.647Z,1750884190.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143398 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:10.725Z,1750884190.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721375
2025-06-25T20:43:10.977Z,1750884190.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972650
2025-06-25T20:43:11.052Z,1750884191.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:11.055Z,1750884191.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 343.941162 m,
      bearing: 236.221405 deg,
      approach rate: -0.672256 m/s,
      LOS rate: 0.000022 deg/s,
      cmd heading: 237.399207 deg,
      new cmd heading: 237.399233 deg.

2025-06-25T20:43:11.056Z,1750884191.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143398 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:11.229Z,1750884191.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224720
2025-06-25T20:43:11.444Z,1750884191.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:11.447Z,1750884191.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 343.669159 m,
      bearing: 236.221369 deg,
      approach rate: -0.666090 m/s,
      LOS rate: -0.000088 deg/s,
      cmd heading: 237.399235 deg,
      new cmd heading: 237.399127 deg.

2025-06-25T20:43:11.448Z,1750884191.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143396 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:11.481Z,1750884191.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476897
2025-06-25T20:43:11.733Z,1750884191.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728913
2025-06-25T20:43:11.841Z,1750884191.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:11.843Z,1750884191.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:11.846Z,1750884191.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 343.403839 m,
      bearing: 236.221313 deg,
      approach rate: -0.666127 m/s,
      LOS rate: -0.000140 deg/s,
      cmd heading: 237.399125 deg,
      new cmd heading: 237.398958 deg.

2025-06-25T20:43:11.846Z,1750884191.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143394 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:11.985Z,1750884191.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980732
2025-06-25T20:43:12.237Z,1750884192.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232571
2025-06-25T20:43:12.264Z,1750884192.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:12.267Z,1750884192.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 343.128204 m,
      bearing: 236.221231 deg,
      approach rate: -0.660713 m/s,
      LOS rate: -0.000197 deg/s,
      cmd heading: 237.398961 deg,
      new cmd heading: 237.398715 deg.

2025-06-25T20:43:12.272Z,1750884192.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143389 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:12.490Z,1750884192.490 [DAT](INFO): DAT read: Rx Time:20:43:13.2284

2025-06-25T20:43:12.491Z,1750884192.491 [DAT](INFO): Rx dataTimestamp_ set to:1750884192.490356
2025-06-25T20:43:12.491Z,1750884192.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487109
2025-06-25T20:43:12.659Z,1750884192.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 365.19 m.
2025-06-25T20:43:12.663Z,1750884192.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 365.192871 m,
      nav range: 342.862915 m,
      bearing: 236.221140 deg,
      approach rate: -0.664591 m/s,
      LOS rate: -0.000228 deg/s,
      cmd heading: 237.398715 deg,
      new cmd heading: 237.398443 deg.

2025-06-25T20:43:12.665Z,1750884192.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143384 target range: 365.192871 and range: 368.70 m.
2025-06-25T20:43:12.742Z,1750884192.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737657
2025-06-25T20:43:13.001Z,1750884193.001 [DAT](INFO): DAT read: 20:43:13.2284 LVL= 26560, 28401, 21410, 32755, AGC= 71, IDX= 398,-0.33, 0.385,-1.000, 0.334, 0.024, PHS= 0.450,-0.976, 0.307, RAW= 144.8,   3.3, CAL= 147.9,  -5.4, ROT=   2.1,   5.4

2025-06-25T20:43:13.002Z,1750884193.002 [DAT](INFO): got valid direction response:
 20:43:13.2284 LVL= 26560, 28401, 21410, 32755, AGC= 71, IDX= 398,-0.33, 0.385,-1.000, 0.334, 0.024, PHS= 0.450,-0.976, 0.307, RAW= 144.8,   3.3, CAL= 147.9,  -5.4, ROT=   2.1,   5.4

2025-06-25T20:43:13.003Z,1750884193.003 [DAT](INFO): DAT read: Bearing   2.1,   5.4 (Local)

2025-06-25T20:43:13.003Z,1750884193.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,   5.4 (Local)

2025-06-25T20:43:13.013Z,1750884193.013 [DAT](INFO): DAT read: Range 10 to 50 : 365.7 m  (Round-trip  487.6 ms) speed  0.5 m/s

2025-06-25T20:43:13.014Z,1750884193.014 [DAT](INFO): DAT read: user:613>

2025-06-25T20:43:13.015Z,1750884193.015 [DAT](INFO): DAT read: Tx time:20:43:14.3366

2025-06-25T20:43:13.015Z,1750884193.015 [DAT](INFO): Ping request sent.
2025-06-25T20:43:13.015Z,1750884193.015 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:13.016Z,1750884193.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:13.017Z,1750884193.017 [DAT](INFO): direction in FSK: [0.994893,0.036481,-0.094108]
2025-06-25T20:43:13.017Z,1750884193.017 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:13.017Z,1750884193.017 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:13.044Z,1750884193.044 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:13.045Z,1750884193.045 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:13.205Z,1750884193.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 365.700012 m,
      deltaT: 4.048395 s,
      deltaX: -3.000000 m,
      approachRate: -0.741034 m/s,
      rangeRepo size: 4

2025-06-25T20:43:13.207Z,1750884193.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 362.220032 m,
      bearing: 240.189675 deg,
      lat: 36.906261 deg,
      lon: -122.116325 deg,
      deltaT: 4.048395 s,
      deltaX: -2.972839 m,
      approachRate: -0.734325 m/s,
      posRepo size: 4

2025-06-25T20:43:13.211Z,1750884193.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:13.218Z,1750884193.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 346.410461 m,
      bearing: 237.945378 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000228 deg/s,
      cmd heading: 237.398442 deg,
      new cmd heading: 237.398076 deg.

2025-06-25T20:43:13.219Z,1750884193.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143378 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:13.245Z,1750884193.245 [DAT](INFO): DAT read: TxSync time:20:43:14.3358

2025-06-25T20:43:13.507Z,1750884193.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:13.510Z,1750884193.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 346.145630 m,
      bearing: 237.946614 deg,
      approach rate: -0.848811 m/s,
      LOS rate: 0.003964 deg/s,
      cmd heading: 237.398087 deg,
      new cmd heading: 237.401797 deg.

2025-06-25T20:43:13.511Z,1750884193.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143443 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:13.925Z,1750884193.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:13.927Z,1750884193.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:13.930Z,1750884193.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 345.866028 m,
      bearing: 237.947972 deg,
      approach rate: -0.665596 m/s,
      LOS rate: 0.003237 deg/s,
      cmd heading: 237.401803 deg,
      new cmd heading: 237.405882 deg.

2025-06-25T20:43:13.931Z,1750884193.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143514 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:14.001Z,1750884194.001 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:14.001Z,1750884194.001 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:14.001Z,1750884194.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:14.253Z,1750884194.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237545
2025-06-25T20:43:14.323Z,1750884194.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:14.325Z,1750884194.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 345.602905 m,
      bearing: 237.949281 deg,
      approach rate: -0.665732 m/s,
      LOS rate: 0.003313 deg/s,
      cmd heading: 237.405874 deg,
      new cmd heading: 237.409802 deg.

2025-06-25T20:43:14.326Z,1750884194.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143583 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:14.505Z,1750884194.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489471
2025-06-25T20:43:14.739Z,1750884194.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:14.745Z,1750884194.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 345.336365 m,
      bearing: 237.950596 deg,
      approach rate: -0.640739 m/s,
      LOS rate: 0.003163 deg/s,
      cmd heading: 237.409808 deg,
      new cmd heading: 237.413755 deg.

2025-06-25T20:43:14.746Z,1750884194.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143651 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:14.757Z,1750884194.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741764
2025-06-25T20:43:15.010Z,1750884195.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994152
2025-06-25T20:43:15.121Z,1750884195.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:15.124Z,1750884195.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 345.070282 m,
      bearing: 237.951861 deg,
      approach rate: -0.695508 m/s,
      LOS rate: 0.003310 deg/s,
      cmd heading: 237.413742 deg,
      new cmd heading: 237.417541 deg.

2025-06-25T20:43:15.125Z,1750884195.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143718 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:15.261Z,1750884195.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245635
2025-06-25T20:43:15.513Z,1750884195.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497525
2025-06-25T20:43:15.561Z,1750884195.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:15.564Z,1750884195.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 344.776764 m,
      bearing: 237.953208 deg,
      approach rate: -0.666638 m/s,
      LOS rate: 0.003062 deg/s,
      cmd heading: 237.417539 deg,
      new cmd heading: 237.421584 deg.

2025-06-25T20:43:15.565Z,1750884195.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143788 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:15.765Z,1750884195.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749644
2025-06-25T20:43:15.928Z,1750884195.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:15.930Z,1750884195.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:15.933Z,1750884195.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 344.531525 m,
      bearing: 237.954310 deg,
      approach rate: -0.665310 m/s,
      LOS rate: 0.002991 deg/s,
      cmd heading: 237.421583 deg,
      new cmd heading: 237.424891 deg.

2025-06-25T20:43:15.934Z,1750884195.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143846 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:16.018Z,1750884196.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002370
2025-06-25T20:43:16.269Z,1750884196.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253518
2025-06-25T20:43:16.332Z,1750884196.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:16.335Z,1750884196.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 344.263428 m,
      bearing: 237.955492 deg,
      approach rate: -0.667192 m/s,
      LOS rate: 0.002944 deg/s,
      cmd heading: 237.424889 deg,
      new cmd heading: 237.428438 deg.

2025-06-25T20:43:16.336Z,1750884196.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143908 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:16.521Z,1750884196.521 [DAT](INFO): DAT read: Rx Time:20:43:17.2389

2025-06-25T20:43:16.521Z,1750884196.521 [DAT](INFO): Rx dataTimestamp_ set to:1750884196.521061
2025-06-25T20:43:16.522Z,1750884196.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506646
2025-06-25T20:43:16.757Z,1750884196.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.22 m.
2025-06-25T20:43:16.760Z,1750884196.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.220032 m,
      nav range: 343.979980 m,
      bearing: 237.956726 deg,
      approach rate: -0.666754 m/s,
      LOS rate: 0.002904 deg/s,
      cmd heading: 237.428440 deg,
      new cmd heading: 237.432144 deg.

2025-06-25T20:43:16.761Z,1750884196.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143973 target range: 362.220032 and range: 365.70 m.
2025-06-25T20:43:16.773Z,1750884196.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757584
2025-06-25T20:43:17.031Z,1750884197.031 [DAT](INFO): DAT read: 20:43:17.2389 LVL= 25120, 22001, 20402, 32755, AGC= 74, IDX=  41, 0.06,-1.188,-2.719,-1.079,-1.832, PHS= 0.732,-0.840, 0.750, RAW= 150.6,  -8.2, CAL= 156.3, -16.2, ROT= 353.7,  16.2

2025-06-25T20:43:17.032Z,1750884197.032 [DAT](INFO): got valid direction response:
 20:43:17.2389 LVL= 25120, 22001, 20402, 32755, AGC= 74, IDX=  41, 0.06,-1.188,-2.719,-1.079,-1.832, PHS= 0.732,-0.840, 0.750, RAW= 150.6,  -8.2, CAL= 156.3, -16.2, ROT= 353.7,  16.2

2025-06-25T20:43:17.033Z,1750884197.033 [DAT](INFO): DAT read: Bearing 353.7,  16.2 (Local)

2025-06-25T20:43:17.033Z,1750884197.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  16.2 (Local)

2025-06-25T20:43:17.034Z,1750884197.034 [DAT](INFO): DAT read: Range 10 to 50 : 373.6 m  (Round-trip  498.2 ms) speed  0.3 m/s

2025-06-25T20:43:17.035Z,1750884197.035 [DAT](INFO): DAT read: user:614>

2025-06-25T20:43:17.036Z,1750884197.036 [DAT](INFO): DAT read: Tx time:20:43:18.3366

2025-06-25T20:43:17.036Z,1750884197.036 [DAT](INFO): Ping request sent.
2025-06-25T20:43:17.037Z,1750884197.037 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:17.037Z,1750884197.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:17.038Z,1750884197.038 [DAT](INFO): direction in FSK: [0.954494,-0.105377,-0.278991]
2025-06-25T20:43:17.038Z,1750884197.038 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:17.038Z,1750884197.038 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:17.042Z,1750884197.042 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:17.042Z,1750884197.042 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:17.231Z,1750884197.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.600006 m,
      deltaT: 4.030031 s,
      deltaX: 7.899994 m,
      approachRate: 1.960281 m/s,
      rangeRepo size: 4

2025-06-25T20:43:17.248Z,1750884197.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 370.044769 m,
      bearing: 232.670100 deg,
      lat: 36.906201 deg,
      lon: -122.116225 deg,
      deltaT: 4.030031 s,
      deltaX: 7.824738 m,
      approachRate: 1.941607 m/s,
      posRepo size: 4

2025-06-25T20:43:17.250Z,1750884197.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:17.270Z,1750884197.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 339.839111 m,
      bearing: 236.219967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002904 deg/s,
      cmd heading: 237.432156 deg,
      new cmd heading: 237.436202 deg.

2025-06-25T20:43:17.272Z,1750884197.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144043 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:17.278Z,1750884197.278 [DAT](INFO): DAT read: TxSync time:20:43:18.3358

2025-06-25T20:43:17.623Z,1750884197.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:17.630Z,1750884197.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 339.567810 m,
      bearing: 236.220945 deg,
      approach rate: -0.675692 m/s,
      LOS rate: 0.002438 deg/s,
      cmd heading: 237.436200 deg,
      new cmd heading: 237.439136 deg.

2025-06-25T20:43:17.631Z,1750884197.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144094 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:17.989Z,1750884197.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:17.991Z,1750884197.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:17.993Z,1750884197.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 339.318481 m,
      bearing: 236.221833 deg,
      approach rate: -0.678100 m/s,
      LOS rate: 0.002417 deg/s,
      cmd heading: 237.439123 deg,
      new cmd heading: 237.441788 deg.

2025-06-25T20:43:17.994Z,1750884197.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144141 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:18.033Z,1750884198.033 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:18.033Z,1750884198.033 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:18.034Z,1750884198.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:18.285Z,1750884198.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248097
2025-06-25T20:43:18.450Z,1750884198.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:18.457Z,1750884198.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 339.017944 m,
      bearing: 236.221976 deg,
      approach rate: -0.654498 m/s,
      LOS rate: 0.000312 deg/s,
      cmd heading: 237.441800 deg,
      new cmd heading: 237.442230 deg.

2025-06-25T20:43:18.458Z,1750884198.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144149 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:18.537Z,1750884198.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500288
2025-06-25T20:43:18.789Z,1750884198.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752254
2025-06-25T20:43:18.819Z,1750884198.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:18.822Z,1750884198.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 338.771912 m,
      bearing: 236.222071 deg,
      approach rate: -0.665831 m/s,
      LOS rate: 0.000256 deg/s,
      cmd heading: 237.442237 deg,
      new cmd heading: 237.442521 deg.

2025-06-25T20:43:18.823Z,1750884198.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144154 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:19.041Z,1750884199.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004621
2025-06-25T20:43:19.227Z,1750884199.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:19.239Z,1750884199.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 338.505157 m,
      bearing: 236.222174 deg,
      approach rate: -0.656057 m/s,
      LOS rate: 0.000253 deg/s,
      cmd heading: 237.442511 deg,
      new cmd heading: 237.442819 deg.

2025-06-25T20:43:19.243Z,1750884199.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144159 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:19.293Z,1750884199.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256607
2025-06-25T20:43:19.545Z,1750884199.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508540
2025-06-25T20:43:19.631Z,1750884199.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:19.635Z,1750884199.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 338.232788 m,
      bearing: 236.221402 deg,
      approach rate: -0.672796 m/s,
      LOS rate: -0.001906 deg/s,
      cmd heading: 237.442811 deg,
      new cmd heading: 237.440496 deg.

2025-06-25T20:43:19.637Z,1750884199.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144118 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:19.797Z,1750884199.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760049
2025-06-25T20:43:20.008Z,1750884200.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:20.010Z,1750884200.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:20.013Z,1750884200.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 337.979462 m,
      bearing: 236.220678 deg,
      approach rate: -0.667636 m/s,
      LOS rate: -0.001911 deg/s,
      cmd heading: 237.440489 deg,
      new cmd heading: 237.438314 deg.

2025-06-25T20:43:20.014Z,1750884200.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144080 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:20.049Z,1750884200.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012485
2025-06-25T20:43:20.301Z,1750884200.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264179
2025-06-25T20:43:20.553Z,1750884200.553 [DAT](INFO): DAT read: Rx Time:20:43:21.2373

2025-06-25T20:43:20.553Z,1750884200.553 [DAT](INFO): Rx dataTimestamp_ set to:1750884200.552948
2025-06-25T20:43:20.554Z,1750884200.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517157
2025-06-25T20:43:20.611Z,1750884200.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:20.614Z,1750884200.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 337.582733 m,
      bearing: 236.218226 deg,
      approach rate: -0.659949 m/s,
      LOS rate: -0.004084 deg/s,
      cmd heading: 237.438303 deg,
      new cmd heading: 237.430938 deg.

2025-06-25T20:43:20.615Z,1750884200.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143951 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:20.805Z,1750884200.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768638
2025-06-25T20:43:20.893Z,1750884200.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.04 m.
2025-06-25T20:43:20.896Z,1750884200.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.044769 m,
      nav range: 337.372742 m,
      bearing: 236.216932 deg,
      approach rate: -0.744981 m/s,
      LOS rate: -0.004592 deg/s,
      cmd heading: 237.430927 deg,
      new cmd heading: 237.427043 deg.

2025-06-25T20:43:20.897Z,1750884200.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143884 target range: 370.044769 and range: 373.60 m.
2025-06-25T20:43:20.972Z,1750884200.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:43:21.063Z,1750884201.063 [DAT](INFO): DAT read: 20:43:21.2373 LVL= 21600, 26097, 16978, 32211, AGC= 70, IDX= 407,-0.22,-3.082, 1.588,-3.013, 2.505, PHS= 0.784,-0.870, 0.763, RAW= 149.4,  -8.3, CAL= 155.3, -16.5, ROT= 354.7,  16.5

2025-06-25T20:43:21.065Z,1750884201.065 [DAT](INFO): got valid direction response:
 20:43:21.2373 LVL= 21600, 26097, 16978, 32211, AGC= 70, IDX= 407,-0.22,-3.082, 1.588,-3.013, 2.505, PHS= 0.784,-0.870, 0.763, RAW= 149.4,  -8.3, CAL= 155.3, -16.5, ROT= 354.7,  16.5

2025-06-25T20:43:21.066Z,1750884201.066 [DAT](INFO): DAT read: Bearing 354.7,  16.5 (Local)

2025-06-25T20:43:21.066Z,1750884201.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.7,  16.5 (Local)

2025-06-25T20:43:21.067Z,1750884201.067 [DAT](INFO): DAT read: Range 10 to 50 : 372.3 m  (Round-trip  496.4 ms) speed  0.4 m/s

2025-06-25T20:43:21.068Z,1750884201.068 [DAT](INFO): DAT read: user:615>

2025-06-25T20:43:21.069Z,1750884201.069 [DAT](INFO): DAT read: Tx time:20:43:22.3367

2025-06-25T20:43:21.069Z,1750884201.069 [DAT](INFO): Ping request sent.
2025-06-25T20:43:21.070Z,1750884201.070 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:21.070Z,1750884201.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:21.071Z,1750884201.071 [DAT](INFO): direction in FSK: [0.954720,-0.088567,-0.284015]
2025-06-25T20:43:21.071Z,1750884201.071 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:21.071Z,1750884201.071 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:21.075Z,1750884201.075 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:21.075Z,1750884201.075 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:21.312Z,1750884201.312 [DAT](INFO): DAT read: TxSync time:20:43:22.3359

2025-06-25T20:43:21.397Z,1750884201.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.299988 m,
      deltaT: 4.032562 s,
      deltaX: -1.300018 m,
      approachRate: -0.322380 m/s,
      rangeRepo size: 4

2025-06-25T20:43:21.399Z,1750884201.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.756042 m,
      bearing: 233.970704 deg,
      lat: 36.906140 deg,
      lon: -122.116225 deg,
      deltaT: 4.032562 s,
      deltaX: -1.288727 m,
      approachRate: -0.319580 m/s,
      posRepo size: 4

2025-06-25T20:43:21.399Z,1750884201.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:21.422Z,1750884201.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 340.870483 m,
      bearing: 235.258147 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004592 deg/s,
      cmd heading: 237.427047 deg,
      new cmd heading: 237.420122 deg.

2025-06-25T20:43:21.423Z,1750884201.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143763 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:21.858Z,1750884201.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:21.860Z,1750884201.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 340.534454 m,
      bearing: 235.254320 deg,
      approach rate: -0.727770 m/s,
      LOS rate: -0.008297 deg/s,
      cmd heading: 237.420135 deg,
      new cmd heading: 237.408642 deg.

2025-06-25T20:43:21.861Z,1750884201.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143562 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:21.976Z,1750884201.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:43:22.327Z,1750884202.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:22.333Z,1750884202.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:22.341Z,1750884202.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 340.220795 m,
      bearing: 235.250741 deg,
      approach rate: -0.659272 m/s,
      LOS rate: -0.007529 deg/s,
      cmd heading: 237.408633 deg,
      new cmd heading: 237.397887 deg.

2025-06-25T20:43:22.342Z,1750884202.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143375 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:22.569Z,1750884202.569 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:22.569Z,1750884202.569 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:22.570Z,1750884202.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:22.766Z,1750884202.766 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS9.7,   0.0,1489.1,  0
2025-06-25T20:43:22.798Z,1750884202.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:22.805Z,1750884202.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 339.877686 m,
      bearing: 235.246821 deg,
      approach rate: -0.738959 m/s,
      LOS rate: -0.008452 deg/s,
      cmd heading: 237.397896 deg,
      new cmd heading: 237.386122 deg.

2025-06-25T20:43:22.806Z,1750884202.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143169 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:22.821Z,1750884202.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751212
2025-06-25T20:43:23.073Z,1750884203.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003146
2025-06-25T20:43:23.180Z,1750884203.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:23.183Z,1750884203.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 339.594818 m,
      bearing: 235.243551 deg,
      approach rate: -0.740551 m/s,
      LOS rate: -0.008568 deg/s,
      cmd heading: 237.386121 deg,
      new cmd heading: 237.376302 deg.

2025-06-25T20:43:23.183Z,1750884203.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142998 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:23.328Z,1750884203.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257833
2025-06-25T20:43:23.577Z,1750884203.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507211
2025-06-25T20:43:23.615Z,1750884203.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:23.617Z,1750884203.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 339.287201 m,
      bearing: 235.241551 deg,
      approach rate: -0.707343 m/s,
      LOS rate: -0.004602 deg/s,
      cmd heading: 237.376312 deg,
      new cmd heading: 237.370308 deg.

2025-06-25T20:43:23.618Z,1750884203.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142893 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:23.829Z,1750884203.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759089
2025-06-25T20:43:23.989Z,1750884203.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:23.991Z,1750884203.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 339.022430 m,
      bearing: 235.239866 deg,
      approach rate: -0.707489 m/s,
      LOS rate: -0.004506 deg/s,
      cmd heading: 237.370302 deg,
      new cmd heading: 237.365242 deg.

2025-06-25T20:43:24.013Z,1750884204.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142805 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:24.082Z,1750884204.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011880
2025-06-25T20:43:24.335Z,1750884204.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265111
2025-06-25T20:43:24.428Z,1750884204.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:24.430Z,1750884204.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:24.433Z,1750884204.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 338.713165 m,
      bearing: 235.239398 deg,
      approach rate: -0.700443 m/s,
      LOS rate: -0.001061 deg/s,
      cmd heading: 237.365248 deg,
      new cmd heading: 237.363842 deg.

2025-06-25T20:43:24.434Z,1750884204.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142781 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:24.585Z,1750884204.585 [DAT](INFO): DAT read: Rx Time:20:43:25.2170

2025-06-25T20:43:24.585Z,1750884204.585 [DAT](INFO): Rx dataTimestamp_ set to:1750884204.585079
2025-06-25T20:43:24.586Z,1750884204.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516287
2025-06-25T20:43:24.798Z,1750884204.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.76 m.
2025-06-25T20:43:24.801Z,1750884204.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.756042 m,
      nav range: 338.454987 m,
      bearing: 235.239153 deg,
      approach rate: -0.702048 m/s,
      LOS rate: -0.000668 deg/s,
      cmd heading: 237.363854 deg,
      new cmd heading: 237.363118 deg.

2025-06-25T20:43:24.802Z,1750884204.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142768 target range: 368.756042 and range: 372.30 m.
2025-06-25T20:43:24.837Z,1750884204.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767628
2025-06-25T20:43:25.095Z,1750884205.095 [DAT](INFO): DAT read: 20:43:25.2170 LVL= 17264, 19585, 17618, 21171, AGC= 72, IDX= 385,-0.44, 2.327, 0.626, 2.296, 1.626, PHS= 0.789,-0.953, 0.667, RAW= 146.4,  -6.0, CAL= 151.9, -14.8, ROT= 358.1,  14.8

2025-06-25T20:43:25.096Z,1750884205.096 [DAT](INFO): got valid direction response:
 20:43:25.2170 LVL= 17264, 19585, 17618, 21171, AGC= 72, IDX= 385,-0.44, 2.327, 0.626, 2.296, 1.626, PHS= 0.789,-0.953, 0.667, RAW= 146.4,  -6.0, CAL= 151.9, -14.8, ROT= 358.1,  14.8

2025-06-25T20:43:25.097Z,1750884205.097 [DAT](INFO): DAT read: Bearing 358.1,  14.8 (Local)

2025-06-25T20:43:25.097Z,1750884205.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  14.8 (Local)

2025-06-25T20:43:25.099Z,1750884205.099 [DAT](INFO): DAT read: Range 10 to 50 : 357.1 m  (Round-trip  476.2 ms) speed  0.6 m/s

2025-06-25T20:43:25.099Z,1750884205.099 [DAT](INFO): DAT read: user:616>

2025-06-25T20:43:25.100Z,1750884205.100 [DAT](INFO): DAT read: Tx time:20:43:26.3367

2025-06-25T20:43:25.100Z,1750884205.100 [DAT](INFO): Ping request sent.
2025-06-25T20:43:25.101Z,1750884205.101 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:25.101Z,1750884205.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:25.102Z,1750884205.102 [DAT](INFO): direction in FSK: [0.966292,-0.032055,-0.255446]
2025-06-25T20:43:25.102Z,1750884205.102 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:25.102Z,1750884205.102 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:25.106Z,1750884205.106 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:25.106Z,1750884205.106 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:25.262Z,1750884205.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 357.100006 m,
      deltaT: 4.031462 s,
      deltaX: -15.199982 m,
      approachRate: -3.770340 m/s,
      rangeRepo size: 4

2025-06-25T20:43:25.273Z,1750884205.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 353.700989 m,
      bearing: 236.508970 deg,
      lat: 36.906140 deg,
      lon: -122.116245 deg,
      deltaT: 4.031462 s,
      deltaX: -15.055054 m,
      approachRate: -3.734390 m/s,
      posRepo size: 4

2025-06-25T20:43:25.273Z,1750884205.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:25.280Z,1750884205.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 339.553253 m,
      bearing: 235.404449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000668 deg/s,
      cmd heading: 237.363117 deg,
      new cmd heading: 237.362188 deg.

2025-06-25T20:43:25.281Z,1750884205.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142752 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:25.347Z,1750884205.347 [DAT](INFO): DAT read: TxSync time:20:43:26.3359

2025-06-25T20:43:25.630Z,1750884205.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:25.655Z,1750884205.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 339.293762 m,
      bearing: 235.405342 deg,
      approach rate: -0.704560 m/s,
      LOS rate: 0.002427 deg/s,
      cmd heading: 237.362188 deg,
      new cmd heading: 237.364869 deg.

2025-06-25T20:43:25.660Z,1750884205.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142798 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:26.021Z,1750884206.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:26.023Z,1750884206.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 339.024628 m,
      bearing: 235.406330 deg,
      approach rate: -0.688787 m/s,
      LOS rate: 0.002531 deg/s,
      cmd heading: 237.364865 deg,
      new cmd heading: 237.367832 deg.

2025-06-25T20:43:26.025Z,1750884206.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142850 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:26.459Z,1750884206.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:26.461Z,1750884206.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:26.464Z,1750884206.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 338.724518 m,
      bearing: 235.408243 deg,
      approach rate: -0.681552 m/s,
      LOS rate: 0.004349 deg/s,
      cmd heading: 237.367843 deg,
      new cmd heading: 237.373588 deg.

2025-06-25T20:43:26.465Z,1750884206.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142951 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:26.604Z,1750884206.604 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:26.605Z,1750884206.605 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:26.605Z,1750884206.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:26.836Z,1750884206.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:26.839Z,1750884206.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 338.482483 m,
      bearing: 235.409752 deg,
      approach rate: -0.644929 m/s,
      LOS rate: 0.004024 deg/s,
      cmd heading: 237.373580 deg,
      new cmd heading: 237.378111 deg.

2025-06-25T20:43:26.844Z,1750884206.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143030 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:26.857Z,1750884206.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756526
2025-06-25T20:43:27.109Z,1750884207.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008222
2025-06-25T20:43:27.227Z,1750884207.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:27.230Z,1750884207.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 338.208374 m,
      bearing: 235.411369 deg,
      approach rate: -0.701401 m/s,
      LOS rate: 0.004140 deg/s,
      cmd heading: 237.378116 deg,
      new cmd heading: 237.382969 deg.

2025-06-25T20:43:27.231Z,1750884207.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143115 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:27.366Z,1750884207.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264984
2025-06-25T20:43:27.617Z,1750884207.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516017
2025-06-25T20:43:27.631Z,1750884207.631 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00,        +0.00,        +0.00,  20.00, 14.21
2025-06-25T20:43:27.679Z,1750884207.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:27.687Z,1750884207.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 337.910583 m,
      bearing: 235.413056 deg,
      approach rate: -0.659109 m/s,
      LOS rate: 0.003738 deg/s,
      cmd heading: 237.382979 deg,
      new cmd heading: 237.388045 deg.

2025-06-25T20:43:27.692Z,1750884207.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143203 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:27.869Z,1750884207.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768153
2025-06-25T20:43:28.033Z,1750884208.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:28.036Z,1750884208.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 337.665955 m,
      bearing: 235.414412 deg,
      approach rate: -0.691300 m/s,
      LOS rate: 0.003834 deg/s,
      cmd heading: 237.388033 deg,
      new cmd heading: 237.392103 deg.

2025-06-25T20:43:28.037Z,1750884208.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143274 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:28.121Z,1750884208.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020867
2025-06-25T20:43:28.376Z,1750884208.376 [DAT](INFO): DAT read: Rx Time:20:43:29.2133

2025-06-25T20:43:28.377Z,1750884208.377 [DAT](INFO): Rx dataTimestamp_ set to:1750884208.376280
2025-06-25T20:43:28.379Z,1750884208.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277654
2025-06-25T20:43:28.484Z,1750884208.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:28.486Z,1750884208.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:28.489Z,1750884208.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 337.367218 m,
      bearing: 235.415283 deg,
      approach rate: -0.658811 m/s,
      LOS rate: 0.001923 deg/s,
      cmd heading: 237.392104 deg,
      new cmd heading: 237.394720 deg.

2025-06-25T20:43:28.490Z,1750884208.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143320 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:28.625Z,1750884208.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524235
2025-06-25T20:43:28.859Z,1750884208.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.70 m.
2025-06-25T20:43:28.862Z,1750884208.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.700989 m,
      nav range: 337.120667 m,
      bearing: 235.416004 deg,
      approach rate: -0.661133 m/s,
      LOS rate: 0.001933 deg/s,
      cmd heading: 237.394727 deg,
      new cmd heading: 237.396889 deg.

2025-06-25T20:43:28.863Z,1750884208.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143357 target range: 353.700989 and range: 357.10 m.
2025-06-25T20:43:28.877Z,1750884208.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776197
2025-06-25T20:43:29.135Z,1750884209.135 [DAT](INFO): DAT read: 20:43:29.2133 LVL= 21952, 27281, 19810, 27987, AGC= 73, IDX= 403,-0.17,-1.033,-2.605,-0.912,-1.761, PHS= 0.816,-0.797, 0.847, RAW= 150.9, -10.6, CAL= 157.4, -18.4, ROT= 352.6,  18.4

2025-06-25T20:43:29.136Z,1750884209.136 [DAT](INFO): got valid direction response:
 20:43:29.2133 LVL= 21952, 27281, 19810, 27987, AGC= 73, IDX= 403,-0.17,-1.033,-2.605,-0.912,-1.761, PHS= 0.816,-0.797, 0.847, RAW= 150.9, -10.6, CAL= 157.4, -18.4, ROT= 352.6,  18.4

2025-06-25T20:43:29.137Z,1750884209.137 [DAT](INFO): DAT read: Bearing 352.6,  18.4 (Local)

2025-06-25T20:43:29.137Z,1750884209.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,  18.4 (Local)

2025-06-25T20:43:29.139Z,1750884209.139 [DAT](INFO): DAT read: Range 10 to 50 : 354.3 m  (Round-trip  472.5 ms) speed  0.4 m/s

2025-06-25T20:43:29.139Z,1750884209.139 [DAT](INFO): DAT read: user:617>

2025-06-25T20:43:29.145Z,1750884209.145 [DAT](INFO): DAT read: Tx time:20:43:30.3367

2025-06-25T20:43:29.147Z,1750884209.147 [DAT](INFO): Ping request sent.
2025-06-25T20:43:29.147Z,1750884209.147 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:29.148Z,1750884209.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:29.149Z,1750884209.149 [DAT](INFO): direction in FSK: [0.940973,-0.122211,-0.315649]
2025-06-25T20:43:29.150Z,1750884209.150 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:29.150Z,1750884209.150 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:29.186Z,1750884209.186 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:29.186Z,1750884209.186 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:29.301Z,1750884209.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 354.299988 m,
      deltaT: 4.040039 s,
      deltaX: -2.800018 m,
      approachRate: -0.693067 m/s,
      rangeRepo size: 4

2025-06-25T20:43:29.303Z,1750884209.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.928314 m,
      bearing: 231.806986 deg,
      lat: 36.906044 deg,
      lon: -122.116245 deg,
      deltaT: 4.040039 s,
      deltaX: -2.772675 m,
      approachRate: -0.686299 m/s,
      posRepo size: 4

2025-06-25T20:43:29.308Z,1750884209.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:29.311Z,1750884209.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 343.036438 m,
      bearing: 233.943604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001933 deg/s,
      cmd heading: 237.396885 deg,
      new cmd heading: 237.399445 deg.

2025-06-25T20:43:29.316Z,1750884209.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143402 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:29.386Z,1750884209.386 [DAT](INFO): DAT read: TxSync time:20:43:30.3359

2025-06-25T20:43:29.690Z,1750884209.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:29.710Z,1750884209.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 342.768738 m,
      bearing: 233.942215 deg,
      approach rate: -0.688212 m/s,
      LOS rate: -0.003572 deg/s,
      cmd heading: 237.399453 deg,
      new cmd heading: 237.395285 deg.

2025-06-25T20:43:29.711Z,1750884209.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143329 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:30.047Z,1750884210.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:30.050Z,1750884210.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 342.524384 m,
      bearing: 233.940921 deg,
      approach rate: -0.683237 m/s,
      LOS rate: -0.003621 deg/s,
      cmd heading: 237.395273 deg,
      new cmd heading: 237.391388 deg.

2025-06-25T20:43:30.051Z,1750884210.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143261 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:30.514Z,1750884210.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:30.520Z,1750884210.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:30.523Z,1750884210.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 342.225586 m,
      bearing: 233.937509 deg,
      approach rate: -0.637993 m/s,
      LOS rate: -0.007291 deg/s,
      cmd heading: 237.391394 deg,
      new cmd heading: 237.381149 deg.

2025-06-25T20:43:30.523Z,1750884210.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143083 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:30.641Z,1750884210.641 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:30.641Z,1750884210.641 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:30.641Z,1750884210.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:30.875Z,1750884210.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:30.882Z,1750884210.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 341.982666 m,
      bearing: 233.934722 deg,
      approach rate: -0.675677 m/s,
      LOS rate: -0.007759 deg/s,
      cmd heading: 237.381148 deg,
      new cmd heading: 237.372780 deg.

2025-06-25T20:43:30.883Z,1750884210.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142937 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:30.893Z,1750884210.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746385
2025-06-25T20:43:31.148Z,1750884211.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000887
2025-06-25T20:43:31.267Z,1750884211.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:31.270Z,1750884211.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 341.710297 m,
      bearing: 233.931597 deg,
      approach rate: -0.694724 m/s,
      LOS rate: -0.007977 deg/s,
      cmd heading: 237.372788 deg,
      new cmd heading: 237.363406 deg.

2025-06-25T20:43:31.271Z,1750884211.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142773 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:31.398Z,1750884211.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250965
2025-06-25T20:43:31.650Z,1750884211.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503145
2025-06-25T20:43:31.703Z,1750884211.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:31.706Z,1750884211.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 341.415070 m,
      bearing: 233.926699 deg,
      approach rate: -0.677670 m/s,
      LOS rate: -0.011253 deg/s,
      cmd heading: 237.363417 deg,
      new cmd heading: 237.348709 deg.

2025-06-25T20:43:31.707Z,1750884211.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142517 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:31.901Z,1750884211.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754213
2025-06-25T20:43:32.069Z,1750884212.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:32.072Z,1750884212.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 341.166534 m,
      bearing: 233.922610 deg,
      approach rate: -0.678207 m/s,
      LOS rate: -0.011167 deg/s,
      cmd heading: 237.348718 deg,
      new cmd heading: 237.336442 deg.

2025-06-25T20:43:32.073Z,1750884212.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142303 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:32.153Z,1750884212.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006444
2025-06-25T20:43:32.408Z,1750884212.408 [DAT](INFO): DAT read: Rx Time:20:43:33.2103

2025-06-25T20:43:32.409Z,1750884212.409 [DAT](INFO): Rx dataTimestamp_ set to:1750884212.408396
2025-06-25T20:43:32.411Z,1750884212.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263948
2025-06-25T20:43:32.534Z,1750884212.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:32.553Z,1750884212.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:32.555Z,1750884212.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 340.836304 m,
      bearing: 233.917578 deg,
      approach rate: -0.683488 m/s,
      LOS rate: -0.010424 deg/s,
      cmd heading: 237.336451 deg,
      new cmd heading: 237.321343 deg.

2025-06-25T20:43:32.556Z,1750884212.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142039 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:32.657Z,1750884212.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510763
2025-06-25T20:43:32.878Z,1750884212.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.93 m.
2025-06-25T20:43:32.881Z,1750884212.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.928314 m,
      nav range: 340.594025 m,
      bearing: 233.913912 deg,
      approach rate: -0.743899 m/s,
      LOS rate: -0.011266 deg/s,
      cmd heading: 237.321343 deg,
      new cmd heading: 237.310336 deg.

2025-06-25T20:43:32.885Z,1750884212.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141847 target range: 350.928314 and range: 354.30 m.
2025-06-25T20:43:32.912Z,1750884212.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764592
2025-06-25T20:43:33.169Z,1750884213.169 [DAT](INFO): DAT read: 20:43:33.2103 LVL= 25840, 25489, 24482, 32755, AGC= 71, IDX= 404,-0.26, 1.041,-0.334, 0.969, 0.625, PHS= 0.504,-0.912, 0.340, RAW= 143.9,   1.0, CAL= 147.7,  -7.8, ROT=   2.3,   7.8

2025-06-25T20:43:33.171Z,1750884213.171 [DAT](INFO): got valid direction response:
 20:43:33.2103 LVL= 25840, 25489, 24482, 32755, AGC= 71, IDX= 404,-0.26, 1.041,-0.334, 0.969, 0.625, PHS= 0.504,-0.912, 0.340, RAW= 143.9,   1.0, CAL= 147.7,  -7.8, ROT=   2.3,   7.8

2025-06-25T20:43:33.185Z,1750884213.185 [DAT](INFO): DAT read: Bearing   2.3,   7.8 (Local)

2025-06-25T20:43:33.186Z,1750884213.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,   7.8 (Local)

2025-06-25T20:43:33.187Z,1750884213.187 [DAT](INFO): DAT read: Range 10 to 50 : 352.1 m  (Round-trip  469.5 ms) speed  0.4 m/s

2025-06-25T20:43:33.205Z,1750884213.205 [DAT](INFO): DAT read: user:618>

2025-06-25T20:43:33.206Z,1750884213.206 [DAT](INFO): DAT read: Tx time:20:43:34.2867

2025-06-25T20:43:33.206Z,1750884213.206 [DAT](INFO): Ping request sent.
2025-06-25T20:43:33.206Z,1750884213.206 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:33.207Z,1750884213.207 [DAT](INFO): DAT read: TxSync time:20:43:34.2859

2025-06-25T20:43:33.207Z,1750884213.207 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:33.209Z,1750884213.209 [DAT](INFO): direction in FSK: [0.989950,0.039760,-0.135716]
2025-06-25T20:43:33.209Z,1750884213.209 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:33.210Z,1750884213.210 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:33.217Z,1750884213.217 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:33.218Z,1750884213.218 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:33.318Z,1750884213.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 352.100006 m,
      deltaT: 4.032025 s,
      deltaX: -2.199982 m,
      approachRate: -0.545627 m/s,
      rangeRepo size: 4

2025-06-25T20:43:33.324Z,1750884213.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.748566 m,
      bearing: 240.429664 deg,
      lat: 36.906044 deg,
      lon: -122.116245 deg,
      deltaT: 4.032025 s,
      deltaX: -2.179749 m,
      approachRate: -0.540609 m/s,
      posRepo size: 4

2025-06-25T20:43:33.324Z,1750884213.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:33.327Z,1750884213.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 340.294312 m,
      bearing: 233.909420 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011266 deg/s,
      cmd heading: 237.310333 deg,
      new cmd heading: 237.295509 deg.

2025-06-25T20:43:33.332Z,1750884213.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141588 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:33.710Z,1750884213.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:33.733Z,1750884213.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 340.004211 m,
      bearing: 233.906064 deg,
      approach rate: -0.738386 m/s,
      LOS rate: -0.008550 deg/s,
      cmd heading: 237.295498 deg,
      new cmd heading: 237.285420 deg.

2025-06-25T20:43:33.734Z,1750884213.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141412 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:34.099Z,1750884214.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:34.102Z,1750884214.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 339.736145 m,
      bearing: 233.903030 deg,
      approach rate: -0.688126 m/s,
      LOS rate: -0.007794 deg/s,
      cmd heading: 237.285416 deg,
      new cmd heading: 237.276308 deg.

2025-06-25T20:43:34.103Z,1750884214.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141253 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:34.542Z,1750884214.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:34.544Z,1750884214.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:34.547Z,1750884214.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 339.412567 m,
      bearing: 233.900465 deg,
      approach rate: -0.726924 m/s,
      LOS rate: -0.005768 deg/s,
      cmd heading: 237.276318 deg,
      new cmd heading: 237.268615 deg.

2025-06-25T20:43:34.548Z,1750884214.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141119 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:34.673Z,1750884214.673 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:34.673Z,1750884214.673 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:34.673Z,1750884214.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:34.904Z,1750884214.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:34.907Z,1750884214.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 339.156769 m,
      bearing: 233.898431 deg,
      approach rate: -0.710577 m/s,
      LOS rate: -0.005655 deg/s,
      cmd heading: 237.268614 deg,
      new cmd heading: 237.262507 deg.

2025-06-25T20:43:34.925Z,1750884214.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718234
2025-06-25T20:43:34.926Z,1750884214.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141012 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:35.177Z,1750884215.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970390
2025-06-25T20:43:35.321Z,1750884215.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:35.327Z,1750884215.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 338.865204 m,
      bearing: 233.896108 deg,
      approach rate: -0.699376 m/s,
      LOS rate: -0.005576 deg/s,
      cmd heading: 237.262494 deg,
      new cmd heading: 237.255521 deg.

2025-06-25T20:43:35.328Z,1750884215.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140890 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:35.430Z,1750884215.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223353
2025-06-25T20:43:35.681Z,1750884215.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474414
2025-06-25T20:43:35.734Z,1750884215.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:35.753Z,1750884215.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 338.576202 m,
      bearing: 233.894859 deg,
      approach rate: -0.699567 m/s,
      LOS rate: -0.003026 deg/s,
      cmd heading: 237.255527 deg,
      new cmd heading: 237.251777 deg.

2025-06-25T20:43:35.754Z,1750884215.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140825 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:35.936Z,1750884215.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729261
2025-06-25T20:43:36.108Z,1750884216.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:36.111Z,1750884216.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 338.318329 m,
      bearing: 233.893737 deg,
      approach rate: -0.690410 m/s,
      LOS rate: -0.003007 deg/s,
      cmd heading: 237.251784 deg,
      new cmd heading: 237.248415 deg.

2025-06-25T20:43:36.112Z,1750884216.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140766 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:36.187Z,1750884216.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980144
2025-06-25T20:43:36.437Z,1750884216.437 [DAT](INFO): DAT read: Rx Time:20:43:37.1565

2025-06-25T20:43:36.437Z,1750884216.437 [DAT](INFO): Rx dataTimestamp_ set to:1750884216.436947
2025-06-25T20:43:36.438Z,1750884216.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231368
2025-06-25T20:43:36.590Z,1750884216.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:36.592Z,1750884216.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.75 m.
2025-06-25T20:43:36.595Z,1750884216.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.748566 m,
      nav range: 337.989502 m,
      bearing: 233.894701 deg,
      approach rate: -0.678650 m/s,
      LOS rate: 0.001992 deg/s,
      cmd heading: 237.248424 deg,
      new cmd heading: 237.251320 deg.

2025-06-25T20:43:36.596Z,1750884216.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140817 target range: 348.748566 and range: 352.10 m.
2025-06-25T20:43:36.690Z,1750884216.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483029
2025-06-25T20:43:36.947Z,1750884216.947 [DAT](INFO): DAT read: 20:43:37.1565 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 396,-0.48,-2.451, 2.312,-2.359,-3.053, PHS= 0.690,-0.872, 0.691, RAW= 150.0,  -6.6, CAL= 155.3, -14.9, ROT= 354.7,  14.9

2025-06-25T20:43:36.948Z,1750884216.948 [DAT](INFO): got valid direction response:
 20:43:37.1565 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 396,-0.48,-2.451, 2.312,-2.359,-3.053, PHS= 0.690,-0.872, 0.691, RAW= 150.0,  -6.6, CAL= 155.3, -14.9, ROT= 354.7,  14.9

2025-06-25T20:43:36.949Z,1750884216.949 [DAT](INFO): DAT read: Bearing 354.7,  14.9 (Local)

2025-06-25T20:43:36.949Z,1750884216.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.7,  14.9 (Local)

2025-06-25T20:43:36.951Z,1750884216.951 [DAT](INFO): DAT read: Range 10 to 50 : 349.2 m  (Round-trip  465.6 ms) speed  0.5 m/s

2025-06-25T20:43:36.952Z,1750884216.952 [DAT](INFO): DAT read: user:619>

2025-06-25T20:43:36.953Z,1750884216.953 [DAT](INFO): DAT read: Tx time:20:43:38.2868

2025-06-25T20:43:36.953Z,1750884216.953 [DAT](INFO): Ping request sent.
2025-06-25T20:43:36.953Z,1750884216.953 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:36.953Z,1750884216.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:36.954Z,1750884216.954 [DAT](INFO): direction in FSK: [0.962245,-0.089265,-0.257133]
2025-06-25T20:43:36.954Z,1750884216.954 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:36.955Z,1750884216.955 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:36.962Z,1750884216.962 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:36.962Z,1750884216.962 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:36.983Z,1750884216.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 349.200012 m,
      deltaT: 3.780246 s,
      deltaX: -2.899994 m,
      approachRate: -0.767144 m/s,
      rangeRepo size: 4

2025-06-25T20:43:37.001Z,1750884217.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 345.876038 m,
      bearing: 233.061321 deg,
      lat: 36.906044 deg,
      lon: -122.116245 deg,
      deltaT: 3.780246 s,
      deltaX: -2.872528 m,
      approachRate: -0.759879 m/s,
      posRepo size: 4

2025-06-25T20:43:37.002Z,1750884217.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:37.009Z,1750884217.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 337.750580 m,
      bearing: 233.895394 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001992 deg/s,
      cmd heading: 237.251320 deg,
      new cmd heading: 237.253612 deg.

2025-06-25T20:43:37.010Z,1750884217.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140857 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:37.193Z,1750884217.193 [DAT](INFO): DAT read: TxSync time:20:43:38.2860

2025-06-25T20:43:37.340Z,1750884217.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:37.343Z,1750884217.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 337.494568 m,
      bearing: 233.896097 deg,
      approach rate: -0.711577 m/s,
      LOS rate: 0.001956 deg/s,
      cmd heading: 237.253615 deg,
      new cmd heading: 237.255726 deg.

2025-06-25T20:43:37.348Z,1750884217.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140893 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:37.749Z,1750884217.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:37.752Z,1750884217.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 337.212738 m,
      bearing: 233.896758 deg,
      approach rate: -0.681720 m/s,
      LOS rate: 0.001600 deg/s,
      cmd heading: 237.255719 deg,
      new cmd heading: 237.257703 deg.

2025-06-25T20:43:37.753Z,1750884217.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140928 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:38.128Z,1750884218.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:38.131Z,1750884218.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 336.963654 m,
      bearing: 233.897312 deg,
      approach rate: -0.656766 m/s,
      LOS rate: 0.001461 deg/s,
      cmd heading: 237.257713 deg,
      new cmd heading: 237.259376 deg.

2025-06-25T20:43:38.132Z,1750884218.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140957 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:38.602Z,1750884218.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:38.605Z,1750884218.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:38.607Z,1750884218.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 336.652679 m,
      bearing: 233.898356 deg,
      approach rate: -0.652927 m/s,
      LOS rate: 0.002193 deg/s,
      cmd heading: 237.259380 deg,
      new cmd heading: 237.262514 deg.

2025-06-25T20:43:38.609Z,1750884218.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141012 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:38.705Z,1750884218.705 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:38.706Z,1750884218.706 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:38.706Z,1750884218.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:38.957Z,1750884218.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004110
2025-06-25T20:43:38.964Z,1750884218.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:38.967Z,1750884218.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 336.430084 m,
      bearing: 233.899059 deg,
      approach rate: -0.618922 m/s,
      LOS rate: 0.001958 deg/s,
      cmd heading: 237.262522 deg,
      new cmd heading: 237.264634 deg.

2025-06-25T20:43:38.972Z,1750884218.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141049 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:39.209Z,1750884219.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256180
2025-06-25T20:43:39.377Z,1750884219.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:39.380Z,1750884219.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 336.157135 m,
      bearing: 233.899924 deg,
      approach rate: -0.661463 m/s,
      LOS rate: 0.002096 deg/s,
      cmd heading: 237.264625 deg,
      new cmd heading: 237.267220 deg.

2025-06-25T20:43:39.381Z,1750884219.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141094 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:39.462Z,1750884219.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508475
2025-06-25T20:43:39.713Z,1750884219.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759734
2025-06-25T20:43:39.776Z,1750884219.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:39.779Z,1750884219.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 335.888092 m,
      bearing: 233.899727 deg,
      approach rate: -0.674660 m/s,
      LOS rate: -0.000492 deg/s,
      cmd heading: 237.267221 deg,
      new cmd heading: 237.266632 deg.

2025-06-25T20:43:39.780Z,1750884219.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141084 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:39.965Z,1750884219.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011770
2025-06-25T20:43:40.150Z,1750884220.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:40.153Z,1750884220.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 335.644531 m,
      bearing: 233.899500 deg,
      approach rate: -0.650595 m/s,
      LOS rate: -0.000609 deg/s,
      cmd heading: 237.266620 deg,
      new cmd heading: 237.265936 deg.

2025-06-25T20:43:40.154Z,1750884220.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141072 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:40.218Z,1750884220.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265233
2025-06-25T20:43:40.469Z,1750884220.469 [DAT](INFO): DAT read: Rx Time:20:43:41.1529

2025-06-25T20:43:40.469Z,1750884220.469 [DAT](INFO): Rx dataTimestamp_ set to:1750884220.469028
2025-06-25T20:43:40.470Z,1750884220.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516876
2025-06-25T20:43:40.668Z,1750884220.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:40.670Z,1750884220.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:40.673Z,1750884220.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 335.299286 m,
      bearing: 233.897214 deg,
      approach rate: -0.663594 m/s,
      LOS rate: -0.004397 deg/s,
      cmd heading: 237.265937 deg,
      new cmd heading: 237.259074 deg.

2025-06-25T20:43:40.674Z,1750884220.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140952 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:40.721Z,1750884220.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767980
2025-06-25T20:43:40.970Z,1750884220.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.88 m.
2025-06-25T20:43:40.983Z,1750884220.983 [DAT](INFO): DAT read: 20:43:41.1529 LVL= 20848, 31649, 18642, 32755, AGC= 71, IDX= 412,-0.48,-0.704,-1.940,-0.595,-1.238, PHS= 0.623,-0.655, 0.640, RAW= 150.7,  -9.5, CAL= 156.8, -17.4, ROT= 353.2,  17.4

2025-06-25T20:43:40.985Z,1750884220.985 [DAT](INFO): got valid direction response:
 20:43:41.1529 LVL= 20848, 31649, 18642, 32755, AGC= 71, IDX= 412,-0.48,-0.704,-1.940,-0.595,-1.238, PHS= 0.623,-0.655, 0.640, RAW= 150.7,  -9.5, CAL= 156.8, -17.4, ROT= 353.2,  17.4

2025-06-25T20:43:40.986Z,1750884220.986 [DAT](INFO): DAT read: Bearing 353.2,  17.4 (Local)

2025-06-25T20:43:40.986Z,1750884220.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,  17.4 (Local)

2025-06-25T20:43:41.004Z,1750884221.004 [DAT](INFO): DAT read: Range 10 to 50 : 346.5 m  (Round-trip  462.0 ms) speed  0.1 m/s

2025-06-25T20:43:41.005Z,1750884221.005 [DAT](INFO): DAT read: user:620>

2025-06-25T20:43:41.006Z,1750884221.006 [DAT](INFO): DAT read: Tx time:20:43:42.2368

2025-06-25T20:43:41.006Z,1750884221.006 [DAT](INFO): Ping request sent.
2025-06-25T20:43:41.006Z,1750884221.006 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:41.006Z,1750884221.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:41.007Z,1750884221.007 [DAT](INFO): direction in FSK: [0.947528,-0.112986,-0.299041]
2025-06-25T20:43:41.009Z,1750884221.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.876038 m,
      nav range: 335.102844 m,
      bearing: 233.895850 deg,
      approach rate: -0.657270 m/s,
      LOS rate: -0.004568 deg/s,
      cmd heading: 237.259079 deg,
      new cmd heading: 237.254983 deg.

2025-06-25T20:43:41.010Z,1750884221.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140881 target range: 345.876038 and range: 349.20 m.
2025-06-25T20:43:41.015Z,1750884221.015 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:41.024Z,1750884221.024 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:41.027Z,1750884221.027 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:41.027Z,1750884221.027 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:41.225Z,1750884221.225 [DAT](INFO): DAT read: TxSync time:20:43:42.2360

2025-06-25T20:43:41.362Z,1750884221.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 346.500000 m,
      deltaT: 4.032814 s,
      deltaX: -2.700012 m,
      approachRate: -0.669511 m/s,
      rangeRepo size: 4

2025-06-25T20:43:41.364Z,1750884221.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 343.201599 m,
      bearing: 232.381205 deg,
      lat: 36.906027 deg,
      lon: -122.116180 deg,
      deltaT: 4.032814 s,
      deltaX: -2.674438 m,
      approachRate: -0.663169 m/s,
      posRepo size: 4

2025-06-25T20:43:41.365Z,1750884221.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:41.367Z,1750884221.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 331.300751 m,
      bearing: 233.049490 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004568 deg/s,
      cmd heading: 237.254981 deg,
      new cmd heading: 237.249608 deg.

2025-06-25T20:43:41.369Z,1750884221.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140787 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:41.790Z,1750884221.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:41.792Z,1750884221.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 331.008301 m,
      bearing: 233.044959 deg,
      approach rate: -0.683023 m/s,
      LOS rate: -0.010592 deg/s,
      cmd heading: 237.249599 deg,
      new cmd heading: 237.235994 deg.

2025-06-25T20:43:41.793Z,1750884221.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140549 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:42.166Z,1750884222.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:42.169Z,1750884222.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 330.754150 m,
      bearing: 233.040962 deg,
      approach rate: -0.675492 m/s,
      LOS rate: -0.010631 deg/s,
      cmd heading: 237.235993 deg,
      new cmd heading: 237.223993 deg.

2025-06-25T20:43:42.170Z,1750884222.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140340 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:42.641Z,1750884222.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:42.649Z,1750884222.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 330.446716 m,
      bearing: 233.036111 deg,
      approach rate: -0.647089 m/s,
      LOS rate: -0.010220 deg/s,
      cmd heading: 237.223999 deg,
      new cmd heading: 237.209433 deg.

2025-06-25T20:43:42.651Z,1750884222.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140086 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:43.002Z,1750884223.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:43.004Z,1750884223.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:43.007Z,1750884223.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 330.178864 m,
      bearing: 233.031224 deg,
      approach rate: -0.736987 m/s,
      LOS rate: -0.013455 deg/s,
      cmd heading: 237.209437 deg,
      new cmd heading: 237.194766 deg.

2025-06-25T20:43:43.008Z,1750884223.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139830 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:43.245Z,1750884223.245 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:43.245Z,1750884223.245 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:43.246Z,1750884223.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:43.392Z,1750884223.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:43.394Z,1750884223.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 329.918152 m,
      bearing: 233.026463 deg,
      approach rate: -0.702344 m/s,
      LOS rate: -0.012836 deg/s,
      cmd heading: 237.194766 deg,
      new cmd heading: 237.180471 deg.

2025-06-25T20:43:43.395Z,1750884223.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139580 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:43.498Z,1750884223.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491535
2025-06-25T20:43:43.749Z,1750884223.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742744
2025-06-25T20:43:43.811Z,1750884223.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:43.829Z,1750884223.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 329.615082 m,
      bearing: 233.019845 deg,
      approach rate: -0.696798 m/s,
      LOS rate: -0.015231 deg/s,
      cmd heading: 237.180477 deg,
      new cmd heading: 237.160604 deg.

2025-06-25T20:43:43.830Z,1750884223.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139234 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:44.001Z,1750884224.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995086
2025-06-25T20:43:44.190Z,1750884224.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:44.193Z,1750884224.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 329.349518 m,
      bearing: 233.014112 deg,
      approach rate: -0.699512 m/s,
      LOS rate: -0.015112 deg/s,
      cmd heading: 237.160615 deg,
      new cmd heading: 237.143404 deg.

2025-06-25T20:43:44.194Z,1750884224.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138933 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:44.253Z,1750884224.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247010
2025-06-25T20:43:44.505Z,1750884224.505 [DAT](INFO): DAT read: Rx Time:20:43:45.0996

2025-06-25T20:43:44.506Z,1750884224.506 [DAT](INFO): Rx dataTimestamp_ set to:1750884224.505682
2025-06-25T20:43:44.506Z,1750884224.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500500
2025-06-25T20:43:44.669Z,1750884224.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.20 m.
2025-06-25T20:43:44.676Z,1750884224.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.201599 m,
      nav range: 329.042938 m,
      bearing: 233.007484 deg,
      approach rate: -0.647123 m/s,
      LOS rate: -0.014004 deg/s,
      cmd heading: 237.143403 deg,
      new cmd heading: 237.123499 deg.

2025-06-25T20:43:44.677Z,1750884224.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138586 target range: 343.201599 and range: 346.50 m.
2025-06-25T20:43:44.757Z,1750884224.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750991
2025-06-25T20:43:45.019Z,1750884225.019 [DAT](INFO): DAT read: 20:43:45.0996 LVL= 24960, 32753, 22002, 32755, AGC= 70, IDX= 404, 0.34,-1.626,-3.107,-1.676,-2.129, PHS= 0.592,-0.931, 0.451, RAW= 145.2,  -1.6, CAL= 149.4, -10.6, ROT=   0.6,  10.6

2025-06-25T20:43:45.020Z,1750884225.020 [DAT](INFO): got valid direction response:
 20:43:45.0996 LVL= 24960, 32753, 22002, 32755, AGC= 70, IDX= 404, 0.34,-1.626,-3.107,-1.676,-2.129, PHS= 0.592,-0.931, 0.451, RAW= 145.2,  -1.6, CAL= 149.4, -10.6, ROT=   0.6,  10.6

2025-06-25T20:43:45.021Z,1750884225.021 [DAT](INFO): DAT read: Bearing   0.6,  10.6 (Local)

2025-06-25T20:43:45.021Z,1750884225.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  10.6 (Local)

2025-06-25T20:43:45.023Z,1750884225.023 [DAT](INFO): DAT read: Range 10 to 50 : 343.9 m  (Round-trip  458.6 ms) speed  0.6 m/s

2025-06-25T20:43:45.024Z,1750884225.024 [DAT](INFO): DAT read: user:621>

2025-06-25T20:43:45.025Z,1750884225.025 [DAT](INFO): DAT read: Tx time:20:43:46.1868

2025-06-25T20:43:45.025Z,1750884225.025 [DAT](INFO): Ping request sent.
2025-06-25T20:43:45.025Z,1750884225.025 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:45.026Z,1750884225.026 [DAT](INFO): DAT read: TxSync time:20:43:46.1860

2025-06-25T20:43:45.026Z,1750884225.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:45.027Z,1750884225.027 [DAT](INFO): direction in FSK: [0.982881,0.010293,-0.183951]
2025-06-25T20:43:45.028Z,1750884225.028 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:45.028Z,1750884225.028 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:45.031Z,1750884225.031 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:45.031Z,1750884225.031 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:45.232Z,1750884225.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 343.899994 m,
      deltaT: 4.037569 s,
      deltaX: -2.600006 m,
      approachRate: -0.643953 m/s,
      rangeRepo size: 4

2025-06-25T20:43:45.234Z,1750884225.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 340.626068 m,
      bearing: 238.446863 deg,
      lat: 36.906027 deg,
      lon: -122.116185 deg,
      deltaT: 4.037569 s,
      deltaX: -2.575531 m,
      approachRate: -0.637892 m/s,
      posRepo size: 4

2025-06-25T20:43:45.235Z,1750884225.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:45.242Z,1750884225.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 328.942352 m,
      bearing: 233.048878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014004 deg/s,
      cmd heading: 237.123486 deg,
      new cmd heading: 237.099991 deg.

2025-06-25T20:43:45.245Z,1750884225.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138175 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:45.734Z,1750884225.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:45.736Z,1750884225.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:45.739Z,1750884225.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 328.569916 m,
      bearing: 233.044525 deg,
      approach rate: -0.726710 m/s,
      LOS rate: -0.008504 deg/s,
      cmd heading: 237.099990 deg,
      new cmd heading: 237.086915 deg.

2025-06-25T20:43:45.739Z,1750884225.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137947 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:45.765Z,1750884225.765 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:45.765Z,1750884225.765 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:45.765Z,1750884225.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:46.017Z,1750884226.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991485
2025-06-25T20:43:46.061Z,1750884226.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:46.063Z,1750884226.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 328.339417 m,
      bearing: 233.041780 deg,
      approach rate: -0.709058 m/s,
      LOS rate: -0.008449 deg/s,
      cmd heading: 237.086904 deg,
      new cmd heading: 237.078664 deg.

2025-06-25T20:43:46.065Z,1750884226.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137803 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:46.269Z,1750884226.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244022
2025-06-25T20:43:46.457Z,1750884226.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:46.460Z,1750884226.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 328.057861 m,
      bearing: 233.038446 deg,
      approach rate: -0.710610 m/s,
      LOS rate: -0.008423 deg/s,
      cmd heading: 237.078653 deg,
      new cmd heading: 237.068641 deg.

2025-06-25T20:43:46.461Z,1750884226.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137629 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:46.521Z,1750884226.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495616
2025-06-25T20:43:46.773Z,1750884226.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747418
2025-06-25T20:43:46.881Z,1750884226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:46.883Z,1750884226.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 327.763794 m,
      bearing: 233.036348 deg,
      approach rate: -0.695267 m/s,
      LOS rate: -0.004963 deg/s,
      cmd heading: 237.068653 deg,
      new cmd heading: 237.062356 deg.

2025-06-25T20:43:46.884Z,1750884226.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137518 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:47.025Z,1750884227.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999335
2025-06-25T20:43:47.279Z,1750884227.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253795
2025-06-25T20:43:47.305Z,1750884227.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:47.312Z,1750884227.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 327.474091 m,
      bearing: 233.034277 deg,
      approach rate: -0.681520 m/s,
      LOS rate: -0.004877 deg/s,
      cmd heading: 237.062342 deg,
      new cmd heading: 237.056123 deg.

2025-06-25T20:43:47.313Z,1750884227.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137410 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:47.533Z,1750884227.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507431
2025-06-25T20:43:47.766Z,1750884227.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:47.769Z,1750884227.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:47.771Z,1750884227.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 327.151489 m,
      bearing: 233.034421 deg,
      approach rate: -0.696008 m/s,
      LOS rate: 0.000313 deg/s,
      cmd heading: 237.056113 deg,
      new cmd heading: 237.056548 deg.

2025-06-25T20:43:47.772Z,1750884227.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137417 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:47.793Z,1750884227.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767392
2025-06-25T20:43:48.045Z,1750884228.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019469
2025-06-25T20:43:48.089Z,1750884228.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:48.091Z,1750884228.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 326.943024 m,
      bearing: 233.034587 deg,
      approach rate: -0.650875 m/s,
      LOS rate: 0.000519 deg/s,
      cmd heading: 237.056550 deg,
      new cmd heading: 237.057049 deg.

2025-06-25T20:43:48.097Z,1750884228.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137426 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:48.300Z,1750884228.300 [DAT](INFO): DAT read: Rx Time:20:43:49.0305

2025-06-25T20:43:48.301Z,1750884228.301 [DAT](INFO): Rx dataTimestamp_ set to:1750884228.300238
2025-06-25T20:43:48.301Z,1750884228.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275700
2025-06-25T20:43:48.477Z,1750884228.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:48.480Z,1750884228.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 326.665771 m,
      bearing: 233.034903 deg,
      approach rate: -0.714041 m/s,
      LOS rate: 0.000812 deg/s,
      cmd heading: 237.057042 deg,
      new cmd heading: 237.057988 deg.

2025-06-25T20:43:48.481Z,1750884228.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137443 target range: 340.626068 and range: 343.90 m.
2025-06-25T20:43:48.549Z,1750884228.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523608
2025-06-25T20:43:48.802Z,1750884228.802 [DAT](INFO): DAT read: Range 10 to 50 : 329.7 m  (Round-trip  439.6 ms) speed  0.4 m/s

2025-06-25T20:43:48.803Z,1750884228.803 [DAT](INFO): DAT read: user:622>

2025-06-25T20:43:48.803Z,1750884228.803 [DAT](INFO): DAT read: Tx time:20:43:50.1368

2025-06-25T20:43:48.804Z,1750884228.804 [DAT](INFO): Ping request sent.
2025-06-25T20:43:48.804Z,1750884228.804 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:48.804Z,1750884228.804 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:43:48.804Z,1750884228.804 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:48.805Z,1750884228.805 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:48.955Z,1750884228.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 329.700012 m,
      deltaT: 3.789327 s,
      deltaX: -14.199982 m,
      approachRate: -3.747362 m/s,
      rangeRepo size: 4

2025-06-25T20:43:48.956Z,1750884228.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:48.965Z,1750884228.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 326.353302 m,
      bearing: 233.036667 deg,
      approach rate: -0.654304 m/s,
      LOS rate: 0.003697 deg/s,
      cmd heading: 237.057998 deg,
      new cmd heading: 237.063295 deg.

2025-06-25T20:43:48.966Z,1750884228.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137535 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:49.054Z,1750884229.054 [DAT](INFO): DAT read: TxSync time:20:43:50.1360

2025-06-25T20:43:49.295Z,1750884229.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:49.298Z,1750884229.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 326.119232 m,
      bearing: 233.037930 deg,
      approach rate: -0.686754 m/s,
      LOS rate: 0.003710 deg/s,
      cmd heading: 237.063299 deg,
      new cmd heading: 237.067092 deg.

2025-06-25T20:43:49.299Z,1750884229.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137601 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:49.762Z,1750884229.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:49.765Z,1750884229.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 325.805664 m,
      bearing: 233.039626 deg,
      approach rate: -0.671800 m/s,
      LOS rate: 0.003636 deg/s,
      cmd heading: 237.067096 deg,
      new cmd heading: 237.072188 deg.

2025-06-25T20:43:49.766Z,1750884229.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137690 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:50.131Z,1750884230.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:50.133Z,1750884230.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:50.136Z,1750884230.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 325.546173 m,
      bearing: 233.040369 deg,
      approach rate: -0.699972 m/s,
      LOS rate: 0.002006 deg/s,
      cmd heading: 237.072178 deg,
      new cmd heading: 237.074409 deg.

2025-06-25T20:43:50.137Z,1750884230.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137729 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:50.312Z,1750884230.312 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:50.313Z,1750884230.313 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:50.313Z,1750884230.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:50.523Z,1750884230.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:50.525Z,1750884230.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 325.284302 m,
      bearing: 233.041120 deg,
      approach rate: -0.671875 m/s,
      LOS rate: 0.001929 deg/s,
      cmd heading: 237.074418 deg,
      new cmd heading: 237.076673 deg.

2025-06-25T20:43:50.526Z,1750884230.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137769 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:50.566Z,1750884230.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761792
2025-06-25T20:43:50.817Z,1750884230.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012919
2025-06-25T20:43:50.925Z,1750884230.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:50.952Z,1750884230.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 325.015594 m,
      bearing: 233.040890 deg,
      approach rate: -0.668016 m/s,
      LOS rate: -0.000572 deg/s,
      cmd heading: 237.076686 deg,
      new cmd heading: 237.075995 deg.

2025-06-25T20:43:50.953Z,1750884230.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137757 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:51.069Z,1750884231.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264953
2025-06-25T20:43:51.308Z,1750884231.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:51.310Z,1750884231.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 324.760559 m,
      bearing: 233.040558 deg,
      approach rate: -0.666583 m/s,
      LOS rate: -0.000869 deg/s,
      cmd heading: 237.076003 deg,
      new cmd heading: 237.075005 deg.

2025-06-25T20:43:51.311Z,1750884231.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137739 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:51.321Z,1750884231.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517091
2025-06-25T20:43:51.573Z,1750884231.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768961
2025-06-25T20:43:51.780Z,1750884231.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:51.783Z,1750884231.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 324.469330 m,
      bearing: 233.040075 deg,
      approach rate: -0.621759 m/s,
      LOS rate: -0.001030 deg/s,
      cmd heading: 237.074992 deg,
      new cmd heading: 237.073544 deg.

2025-06-25T20:43:51.788Z,1750884231.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137714 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:51.825Z,1750884231.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021095
2025-06-25T20:43:52.077Z,1750884232.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272967
2025-06-25T20:43:52.096Z,1750884232.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:43:52.145Z,1750884232.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:52.147Z,1750884232.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:52.150Z,1750884232.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 324.201630 m,
      bearing: 233.038088 deg,
      approach rate: -0.720779 m/s,
      LOS rate: -0.005357 deg/s,
      cmd heading: 237.073544 deg,
      new cmd heading: 237.067575 deg.

2025-06-25T20:43:52.151Z,1750884232.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137610 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:52.329Z,1750884232.329 [DAT](INFO): DAT read: Rx Time:20:43:53.0086

2025-06-25T20:43:52.329Z,1750884232.329 [DAT](INFO): Rx dataTimestamp_ set to:1750884232.328986
2025-06-25T20:43:52.330Z,1750884232.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526013
2025-06-25T20:43:52.519Z,1750884232.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:52.542Z,1750884232.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 323.954834 m,
      bearing: 233.036242 deg,
      approach rate: -0.663643 m/s,
      LOS rate: -0.004966 deg/s,
      cmd heading: 237.067588 deg,
      new cmd heading: 237.062047 deg.

2025-06-25T20:43:52.543Z,1750884232.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137513 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:52.582Z,1750884232.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777504
2025-06-25T20:43:52.839Z,1750884232.839 [DAT](INFO): DAT read: 20:43:53.0086 LVL= 30640, 25681, 29922, 32755, AGC= 68, IDX= 209,-0.46, 2.467, 1.135, 2.572, 1.820, PHS= 0.735,-0.639, 0.749, RAW= 150.5, -12.2, CAL= 157.6, -19.8, ROT= 352.4,  19.8

2025-06-25T20:43:52.840Z,1750884232.840 [DAT](INFO): got valid direction response:
 20:43:53.0086 LVL= 30640, 25681, 29922, 32755, AGC= 68, IDX= 209,-0.46, 2.467, 1.135, 2.572, 1.820, PHS= 0.735,-0.639, 0.749, RAW= 150.5, -12.2, CAL= 157.6, -19.8, ROT= 352.4,  19.8

2025-06-25T20:43:52.841Z,1750884232.841 [DAT](INFO): DAT read: Bearing 352.4,  19.8 (Local)

2025-06-25T20:43:52.841Z,1750884232.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  19.8 (Local)

2025-06-25T20:43:52.843Z,1750884232.843 [DAT](INFO): DAT read: Range 10 to 50 : 350.7 m  (Round-trip  467.6 ms) speed  0.4 m/s

2025-06-25T20:43:52.843Z,1750884232.843 [DAT](INFO): DAT read: user:623>

2025-06-25T20:43:52.844Z,1750884232.844 [DAT](INFO): DAT read: Tx time:20:43:54.1369

2025-06-25T20:43:52.844Z,1750884232.844 [DAT](INFO): Ping request sent.
2025-06-25T20:43:52.845Z,1750884232.845 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:52.845Z,1750884232.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:52.846Z,1750884232.846 [DAT](INFO): direction in FSK: [0.932616,-0.124437,-0.338738]
2025-06-25T20:43:52.846Z,1750884232.846 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:52.846Z,1750884232.846 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:52.849Z,1750884232.849 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:52.850Z,1750884232.850 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:53.021Z,1750884233.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 350.700012 m,
 deltaT: 4.031982 s,
 deltaX: 21.000000 m,
 approachRate: 5.208356 m/s,
 rangeRepo size: 4
2025-06-25T20:43:53.022Z,1750884233.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:53.028Z,1750884233.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 323.633057 m,
      bearing: 233.031183 deg,
      approach rate: -0.642020 m/s,
      LOS rate: -0.010104 deg/s,
      cmd heading: 237.062042 deg,
      new cmd heading: 237.046849 deg.

2025-06-25T20:43:53.029Z,1750884233.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137248 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:53.086Z,1750884233.086 [DAT](INFO): DAT read: TxSync time:20:43:54.1361

2025-06-25T20:43:53.106Z,1750884233.106 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:43:53.326Z,1750884233.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:53.328Z,1750884233.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 323.411285 m,
      bearing: 233.027729 deg,
      approach rate: -0.726773 m/s,
      LOS rate: -0.011327 deg/s,
      cmd heading: 237.046851 deg,
      new cmd heading: 237.036482 deg.

2025-06-25T20:43:53.329Z,1750884233.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137067 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:53.759Z,1750884233.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:53.785Z,1750884233.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 323.137939 m,
      bearing: 233.023530 deg,
      approach rate: -0.632486 m/s,
      LOS rate: -0.009724 deg/s,
      cmd heading: 237.036470 deg,
      new cmd heading: 237.023862 deg.

2025-06-25T20:43:53.793Z,1750884233.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136847 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:54.159Z,1750884234.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:54.161Z,1750884234.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:54.164Z,1750884234.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 322.843292 m,
      bearing: 233.017607 deg,
      approach rate: -0.729894 m/s,
      LOS rate: -0.014686 deg/s,
      cmd heading: 237.023875 deg,
      new cmd heading: 237.006089 deg.

2025-06-25T20:43:54.165Z,1750884234.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136537 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:54.345Z,1750884234.345 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:54.345Z,1750884234.345 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:54.345Z,1750884234.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:54.558Z,1750884234.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:54.561Z,1750884234.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 322.574219 m,
      bearing: 233.012258 deg,
      approach rate: -0.679091 m/s,
      LOS rate: -0.013511 deg/s,
      cmd heading: 237.006089 deg,
      new cmd heading: 236.990028 deg.

2025-06-25T20:43:54.561Z,1750884234.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136256 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:54.599Z,1750884234.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754672
2025-06-25T20:43:54.849Z,1750884234.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004121
2025-06-25T20:43:54.979Z,1750884234.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:54.986Z,1750884234.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 322.295868 m,
      bearing: 233.005811 deg,
      approach rate: -0.660388 m/s,
      LOS rate: -0.015308 deg/s,
      cmd heading: 236.990024 deg,
      new cmd heading: 236.970668 deg.

2025-06-25T20:43:54.987Z,1750884234.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135919 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:55.102Z,1750884235.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256789
2025-06-25T20:43:55.353Z,1750884235.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508669
2025-06-25T20:43:55.371Z,1750884235.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:55.374Z,1750884235.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 322.012421 m,
      bearing: 232.999235 deg,
      approach rate: -0.722674 m/s,
      LOS rate: -0.016781 deg/s,
      cmd heading: 236.970681 deg,
      new cmd heading: 236.950936 deg.

2025-06-25T20:43:55.375Z,1750884235.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135574 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:55.605Z,1750884235.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760453
2025-06-25T20:43:55.753Z,1750884235.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:55.755Z,1750884235.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 321.753967 m,
      bearing: 232.993327 deg,
      approach rate: -0.677982 m/s,
      LOS rate: -0.015511 deg/s,
      cmd heading: 236.950928 deg,
      new cmd heading: 236.933190 deg.

2025-06-25T20:43:55.757Z,1750884235.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135264 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:55.858Z,1750884235.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013021
2025-06-25T20:43:56.113Z,1750884236.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268221
2025-06-25T20:43:56.180Z,1750884236.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:56.182Z,1750884236.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:56.185Z,1750884236.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 321.456512 m,
      bearing: 232.987603 deg,
      approach rate: -0.692504 m/s,
      LOS rate: -0.013339 deg/s,
      cmd heading: 236.933197 deg,
      new cmd heading: 236.916009 deg.

2025-06-25T20:43:56.186Z,1750884236.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134964 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:56.361Z,1750884236.361 [DAT](INFO): DAT read: Rx Time:20:43:56.9735

2025-06-25T20:43:56.361Z,1750884236.361 [DAT](INFO): Rx dataTimestamp_ set to:1750884236.361103
2025-06-25T20:43:56.362Z,1750884236.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517346
2025-06-25T20:43:56.578Z,1750884236.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.63 m.
2025-06-25T20:43:56.581Z,1750884236.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.626068 m,
      nav range: 321.184784 m,
      bearing: 232.982407 deg,
      approach rate: -0.685870 m/s,
      LOS rate: -0.013127 deg/s,
      cmd heading: 236.916012 deg,
      new cmd heading: 236.900410 deg.

2025-06-25T20:43:56.582Z,1750884236.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134692 target range: 340.626068 and range: 329.70 m.
2025-06-25T20:43:56.613Z,1750884236.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768504
2025-06-25T20:43:56.871Z,1750884236.871 [DAT](INFO): DAT read: 20:43:56.9735 LVL= 21280, 25329, 18610, 28915, AGC= 74, IDX=  89,-0.18, 2.778, 1.352, 2.670, 2.167, PHS= 0.698,-0.769, 0.500, RAW= 142.8,  -6.3, CAL= 148.8, -15.5, ROT=   1.2,  15.5

2025-06-25T20:43:56.872Z,1750884236.872 [DAT](INFO): got valid direction response:
 20:43:56.9735 LVL= 21280, 25329, 18610, 28915, AGC= 74, IDX=  89,-0.18, 2.778, 1.352, 2.670, 2.167, PHS= 0.698,-0.769, 0.500, RAW= 142.8,  -6.3, CAL= 148.8, -15.5, ROT=   1.2,  15.5

2025-06-25T20:43:56.873Z,1750884236.873 [DAT](INFO): DAT read: Bearing   1.2,  15.5 (Local)

2025-06-25T20:43:56.873Z,1750884236.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  15.5 (Local)

2025-06-25T20:43:56.875Z,1750884236.875 [DAT](INFO): DAT read: Range 10 to 50 : 324.3 m  (Round-trip  432.5 ms) speed  0.7 m/s

2025-06-25T20:43:56.876Z,1750884236.876 [DAT](INFO): DAT read: user:624>

2025-06-25T20:43:56.877Z,1750884236.877 [DAT](INFO): DAT read: Tx time:20:43:58.0869

2025-06-25T20:43:56.878Z,1750884236.878 [DAT](INFO): Ping request sent.
2025-06-25T20:43:56.878Z,1750884236.878 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:43:56.878Z,1750884236.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:43:56.879Z,1750884236.879 [DAT](INFO): direction in FSK: [0.963419,0.020181,-0.267238]
2025-06-25T20:43:56.879Z,1750884236.879 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:56.879Z,1750884236.879 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:56.882Z,1750884236.882 [DAT](INFO): publishing transmit ping time
2025-06-25T20:43:56.883Z,1750884236.883 [DAT](INFO): publishing direction and range info
2025-06-25T20:43:57.032Z,1750884237.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.299988 m,
      deltaT: 8.063975 s,
      deltaX: -5.400024 m,
      approachRate: -0.669648 m/s,
      rangeRepo size: 4

2025-06-25T20:43:57.034Z,1750884237.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.213409 m,
      bearing: 239.267834 deg,
      lat: 36.906027 deg,
      lon: -122.116194 deg,
      deltaT: 11.853302 s,
      deltaX: -19.412659 m,
      approachRate: -1.637743 m/s,
      posRepo size: 4

2025-06-25T20:43:57.035Z,1750884237.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:57.042Z,1750884237.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 321.571198 m,
      bearing: 233.062933 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013127 deg/s,
      cmd heading: 236.900412 deg,
      new cmd heading: 236.882729 deg.

2025-06-25T20:43:57.043Z,1750884237.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134384 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:57.118Z,1750884237.118 [DAT](INFO): DAT read: TxSync time:20:43:58.0861

2025-06-25T20:43:57.374Z,1750884237.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:57.387Z,1750884237.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 321.320862 m,
      bearing: 233.059844 deg,
      approach rate: -0.721778 m/s,
      LOS rate: -0.008912 deg/s,
      cmd heading: 236.882736 deg,
      new cmd heading: 236.873462 deg.

2025-06-25T20:43:57.398Z,1750884237.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134222 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:57.770Z,1750884237.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:57.773Z,1750884237.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 321.048950 m,
      bearing: 233.056557 deg,
      approach rate: -0.687201 m/s,
      LOS rate: -0.008313 deg/s,
      cmd heading: 236.873474 deg,
      new cmd heading: 236.863606 deg.

2025-06-25T20:43:57.775Z,1750884237.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134050 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:58.214Z,1750884238.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:43:58.220Z,1750884238.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:58.223Z,1750884238.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 320.760040 m,
      bearing: 233.055159 deg,
      approach rate: -0.647873 m/s,
      LOS rate: -0.003139 deg/s,
      cmd heading: 236.863611 deg,
      new cmd heading: 236.859412 deg.

2025-06-25T20:43:58.223Z,1750884238.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133976 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:58.377Z,1750884238.377 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:43:58.377Z,1750884238.377 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:43:58.377Z,1750884238.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:43:58.590Z,1750884238.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:58.593Z,1750884238.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 320.492371 m,
      bearing: 233.053834 deg,
      approach rate: -0.715558 m/s,
      LOS rate: -0.003544 deg/s,
      cmd heading: 236.859404 deg,
      new cmd heading: 236.855426 deg.

2025-06-25T20:43:58.594Z,1750884238.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133907 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:58.629Z,1750884238.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751764
2025-06-25T20:43:58.881Z,1750884238.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003119
2025-06-25T20:43:59.045Z,1750884239.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:59.047Z,1750884239.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 320.185425 m,
      bearing: 233.054127 deg,
      approach rate: -0.675051 m/s,
      LOS rate: 0.000644 deg/s,
      cmd heading: 236.855415 deg,
      new cmd heading: 236.856294 deg.

2025-06-25T20:43:59.064Z,1750884239.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133922 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:59.134Z,1750884239.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255821
2025-06-25T20:43:59.385Z,1750884239.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507107
2025-06-25T20:43:59.408Z,1750884239.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:59.411Z,1750884239.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 319.953491 m,
      bearing: 233.054312 deg,
      approach rate: -0.645449 m/s,
      LOS rate: 0.000517 deg/s,
      cmd heading: 236.856289 deg,
      new cmd heading: 236.856846 deg.

2025-06-25T20:43:59.420Z,1750884239.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133932 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:59.639Z,1750884239.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760596
2025-06-25T20:43:59.798Z,1750884239.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:43:59.801Z,1750884239.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 319.677124 m,
      bearing: 233.054507 deg,
      approach rate: -0.701374 m/s,
      LOS rate: 0.000494 deg/s,
      cmd heading: 236.856836 deg,
      new cmd heading: 236.857420 deg.

2025-06-25T20:43:59.802Z,1750884239.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133942 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:43:59.892Z,1750884239.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013602
2025-06-25T20:44:00.142Z,1750884240.142 [DAT](INFO): DAT read: Rx Time:20:44:00.9512

2025-06-25T20:44:00.143Z,1750884240.143 [DAT](INFO): Rx dataTimestamp_ set to:1750884240.142286
2025-06-25T20:44:00.143Z,1750884240.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265416
2025-06-25T20:44:00.230Z,1750884240.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:00.232Z,1750884240.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:00.235Z,1750884240.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 319.388733 m,
      bearing: 233.055770 deg,
      approach rate: -0.663888 m/s,
      LOS rate: 0.002911 deg/s,
      cmd heading: 236.857409 deg,
      new cmd heading: 236.861203 deg.

2025-06-25T20:44:00.236Z,1750884240.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134008 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:00.393Z,1750884240.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515056
2025-06-25T20:44:00.616Z,1750884240.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:00.619Z,1750884240.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 319.132721 m,
      bearing: 233.056846 deg,
      approach rate: -0.667579 m/s,
      LOS rate: 0.002806 deg/s,
      cmd heading: 236.861207 deg,
      new cmd heading: 236.864435 deg.

2025-06-25T20:44:00.620Z,1750884240.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134064 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:00.648Z,1750884240.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769863
2025-06-25T20:44:00.905Z,1750884240.905 [DAT](INFO): DAT read: 20:44:00.9512 LVL= 23168, 22609, 20578, 28019, AGC= 75, IDX= 212, 0.01, 2.507, 1.288, 2.567, 1.874, PHS= 0.721,-0.540, 0.690, RAW= 148.8, -13.9, CAL= 155.5, -21.7, ROT= 354.5,  21.7

2025-06-25T20:44:00.906Z,1750884240.906 [DAT](INFO): got valid direction response:
 20:44:00.9512 LVL= 23168, 22609, 20578, 28019, AGC= 75, IDX= 212, 0.01, 2.507, 1.288, 2.567, 1.874, PHS= 0.721,-0.540, 0.690, RAW= 148.8, -13.9, CAL= 155.5, -21.7, ROT= 354.5,  21.7

2025-06-25T20:44:00.908Z,1750884240.908 [DAT](INFO): DAT read: Bearing 354.5,  21.7 (Local)

2025-06-25T20:44:00.909Z,1750884240.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  21.7 (Local)

2025-06-25T20:44:00.911Z,1750884240.911 [DAT](INFO): DAT read: Range 10 to 50 : 345.1 m  (Round-trip  460.2 ms) speed  0.4 m/s

2025-06-25T20:44:00.912Z,1750884240.912 [DAT](INFO): DAT read: user:625>

2025-06-25T20:44:00.913Z,1750884240.913 [DAT](INFO): DAT read: Tx time:20:44:02.0369

2025-06-25T20:44:00.914Z,1750884240.914 [DAT](INFO): Ping request sent.
2025-06-25T20:44:00.914Z,1750884240.914 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:00.915Z,1750884240.915 [DAT](INFO): DAT read: TxSync time:20:44:02.0361

2025-06-25T20:44:00.916Z,1750884240.916 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:00.917Z,1750884240.917 [DAT](INFO): direction in FSK: [0.924855,-0.089054,-0.369747]
2025-06-25T20:44:00.917Z,1750884240.917 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:00.918Z,1750884240.918 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:00.963Z,1750884240.963 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:00.963Z,1750884240.963 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:01.084Z,1750884241.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 345.100006 m,
 deltaT: 4.033672 s,
 deltaX: 20.800018 m,
 approachRate: 5.156596 m/s,
 rangeRepo size: 4
2025-06-25T20:44:01.085Z,1750884241.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:01.087Z,1750884241.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 318.830719 m,
      bearing: 233.058317 deg,
      approach rate: -0.651758 m/s,
      LOS rate: 0.003178 deg/s,
      cmd heading: 236.864431 deg,
      new cmd heading: 236.868848 deg.

2025-06-25T20:44:01.092Z,1750884241.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134141 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:01.416Z,1750884241.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:01.419Z,1750884241.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 318.592560 m,
      bearing: 233.059480 deg,
      approach rate: -0.706167 m/s,
      LOS rate: 0.003453 deg/s,
      cmd heading: 236.868857 deg,
      new cmd heading: 236.872350 deg.

2025-06-25T20:44:01.420Z,1750884241.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134202 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:01.834Z,1750884241.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:01.841Z,1750884241.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 318.323730 m,
      bearing: 233.060734 deg,
      approach rate: -0.645411 m/s,
      LOS rate: 0.003012 deg/s,
      cmd heading: 236.872354 deg,
      new cmd heading: 236.876118 deg.

2025-06-25T20:44:01.842Z,1750884241.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134268 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:02.295Z,1750884242.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:02.297Z,1750884242.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:02.300Z,1750884242.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 317.997986 m,
      bearing: 233.061078 deg,
      approach rate: -0.701306 m/s,
      LOS rate: 0.000741 deg/s,
      cmd heading: 236.876124 deg,
      new cmd heading: 236.877156 deg.

2025-06-25T20:44:02.301Z,1750884242.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134286 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:02.411Z,1750884242.411 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:02.411Z,1750884242.411 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:02.412Z,1750884242.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:02.662Z,1750884242.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747157
2025-06-25T20:44:02.699Z,1750884242.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:02.705Z,1750884242.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 317.732727 m,
      bearing: 233.061307 deg,
      approach rate: -0.661086 m/s,
      LOS rate: 0.000573 deg/s,
      cmd heading: 236.877162 deg,
      new cmd heading: 236.877851 deg.

2025-06-25T20:44:02.706Z,1750884242.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134298 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:02.916Z,1750884242.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001020
2025-06-25T20:44:03.160Z,1750884243.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:03.163Z,1750884243.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 317.410675 m,
      bearing: 233.059549 deg,
      approach rate: -0.698258 m/s,
      LOS rate: -0.003816 deg/s,
      cmd heading: 236.877845 deg,
      new cmd heading: 236.872565 deg.

2025-06-25T20:44:03.165Z,1750884243.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250684
2025-06-25T20:44:03.165Z,1750884243.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134206 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:03.417Z,1750884243.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502723
2025-06-25T20:44:03.544Z,1750884243.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:03.546Z,1750884243.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 317.152466 m,
      bearing: 233.058048 deg,
      approach rate: -0.673016 m/s,
      LOS rate: -0.003916 deg/s,
      cmd heading: 236.872572 deg,
      new cmd heading: 236.868065 deg.

2025-06-25T20:44:03.547Z,1750884243.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134128 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:03.669Z,1750884243.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754775
2025-06-25T20:44:03.923Z,1750884243.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008779
2025-06-25T20:44:04.000Z,1750884244.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:04.003Z,1750884244.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 316.838959 m,
      bearing: 233.054017 deg,
      approach rate: -0.686975 m/s,
      LOS rate: -0.008840 deg/s,
      cmd heading: 236.868064 deg,
      new cmd heading: 236.855962 deg.

2025-06-25T20:44:04.005Z,1750884244.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133916 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:04.173Z,1750884244.173 [DAT](INFO): DAT read: Rx Time:20:44:04.8661

2025-06-25T20:44:04.173Z,1750884244.173 [DAT](INFO): Rx dataTimestamp_ set to:1750884244.172996
2025-06-25T20:44:04.174Z,1750884244.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259631
2025-06-25T20:44:04.333Z,1750884244.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:04.335Z,1750884244.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.21 m.
2025-06-25T20:44:04.338Z,1750884244.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.213409 m,
      nav range: 316.612610 m,
      bearing: 233.051118 deg,
      approach rate: -0.675239 m/s,
      LOS rate: -0.008656 deg/s,
      cmd heading: 236.855961 deg,
      new cmd heading: 236.847257 deg.

2025-06-25T20:44:04.339Z,1750884244.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133764 target range: 321.213409 and range: 324.30 m.
2025-06-25T20:44:04.425Z,1750884244.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510845
2025-06-25T20:44:04.683Z,1750884244.683 [DAT](INFO): DAT read: 20:44:04.8661 LVL= 27424, 29073, 27458, 32755, AGC= 74, IDX= 248,-0.11, 1.048,-0.264, 1.175, 0.516, PHS= 0.621,-0.733, 0.657, RAW= 151.3,  -8.0, CAL= 156.9, -16.0, ROT= 353.1,  16.0

2025-06-25T20:44:04.684Z,1750884244.684 [DAT](INFO): got valid direction response:
 20:44:04.8661 LVL= 27424, 29073, 27458, 32755, AGC= 74, IDX= 248,-0.11, 1.048,-0.264, 1.175, 0.516, PHS= 0.621,-0.733, 0.657, RAW= 151.3,  -8.0, CAL= 156.9, -16.0, ROT= 353.1,  16.0

2025-06-25T20:44:04.685Z,1750884244.685 [DAT](INFO): DAT read: Bearing 353.1,  16.0 (Local)

2025-06-25T20:44:04.685Z,1750884244.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,  16.0 (Local)

2025-06-25T20:44:04.687Z,1750884244.687 [DAT](INFO): DAT read: Range 10 to 50 : 318.7 m  (Round-trip  425.0 ms) speed  0.7 m/s

2025-06-25T20:44:04.688Z,1750884244.688 [DAT](INFO): DAT read: user:626>

2025-06-25T20:44:04.689Z,1750884244.689 [DAT](INFO): DAT read: Tx time:20:44:05.9869

2025-06-25T20:44:04.689Z,1750884244.689 [DAT](INFO): Ping request sent.
2025-06-25T20:44:04.689Z,1750884244.689 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:04.689Z,1750884244.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:04.690Z,1750884244.690 [DAT](INFO): direction in FSK: [0.954300,-0.115483,-0.275637]
2025-06-25T20:44:04.691Z,1750884244.691 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:04.691Z,1750884244.691 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:04.722Z,1750884244.722 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:04.722Z,1750884244.722 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:04.788Z,1750884244.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.700012 m,
      deltaT: 7.812302 s,
      deltaX: -5.599976 m,
      approachRate: -0.716815 m/s,
      rangeRepo size: 4

2025-06-25T20:44:04.790Z,1750884244.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.668091 m,
      bearing: 231.566832 deg,
      lat: 36.906018 deg,
      lon: -122.116242 deg,
      deltaT: 7.812302 s,
      deltaX: -5.545319 m,
      approachRate: -0.709819 m/s,
      posRepo size: 4

2025-06-25T20:44:04.791Z,1750884244.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:04.805Z,1750884244.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 320.347107 m,
      bearing: 233.363831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008656 deg/s,
      cmd heading: 236.847246 deg,
      new cmd heading: 236.835616 deg.

2025-06-25T20:44:04.806Z,1750884244.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133561 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:04.931Z,1750884244.931 [DAT](INFO): DAT read: TxSync time:20:44:05.9861

2025-06-25T20:44:05.176Z,1750884245.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:05.179Z,1750884245.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 320.063751 m,
      bearing: 233.359136 deg,
      approach rate: -0.721209 m/s,
      LOS rate: -0.011959 deg/s,
      cmd heading: 236.835607 deg,
      new cmd heading: 236.821511 deg.

2025-06-25T20:44:05.181Z,1750884245.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133315 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:05.540Z,1750884245.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:05.543Z,1750884245.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 319.813965 m,
      bearing: 233.355013 deg,
      approach rate: -0.686092 m/s,
      LOS rate: -0.011334 deg/s,
      cmd heading: 236.821510 deg,
      new cmd heading: 236.809130 deg.

2025-06-25T20:44:05.544Z,1750884245.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133099 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:06.019Z,1750884246.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:06.021Z,1750884246.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 319.481995 m,
      bearing: 233.348828 deg,
      approach rate: -0.693726 m/s,
      LOS rate: -0.012937 deg/s,
      cmd heading: 236.809134 deg,
      new cmd heading: 236.790561 deg.

2025-06-25T20:44:06.022Z,1750884246.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132775 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:06.347Z,1750884246.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:06.350Z,1750884246.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:06.353Z,1750884246.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 319.252563 m,
      bearing: 233.344577 deg,
      approach rate: -0.692754 m/s,
      LOS rate: -0.012846 deg/s,
      cmd heading: 236.790555 deg,
      new cmd heading: 236.777792 deg.

2025-06-25T20:44:06.353Z,1750884246.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132552 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:06.441Z,1750884246.441 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:06.441Z,1750884246.441 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:06.441Z,1750884246.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:06.693Z,1750884246.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003790
2025-06-25T20:44:06.773Z,1750884246.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:06.776Z,1750884246.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 318.958160 m,
      bearing: 233.339148 deg,
      approach rate: -0.695249 m/s,
      LOS rate: -0.012832 deg/s,
      cmd heading: 236.777797 deg,
      new cmd heading: 236.761495 deg.

2025-06-25T20:44:06.777Z,1750884246.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132267 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:06.947Z,1750884246.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257927
2025-06-25T20:44:07.197Z,1750884247.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507960
2025-06-25T20:44:07.200Z,1750884247.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:07.203Z,1750884247.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 318.662262 m,
      bearing: 233.334670 deg,
      approach rate: -0.693193 m/s,
      LOS rate: -0.010502 deg/s,
      cmd heading: 236.761486 deg,
      new cmd heading: 236.748037 deg.

2025-06-25T20:44:07.204Z,1750884247.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132033 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:07.452Z,1750884247.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763335
2025-06-25T20:44:07.574Z,1750884247.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:07.577Z,1750884247.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 318.401123 m,
      bearing: 233.330734 deg,
      approach rate: -0.698905 m/s,
      LOS rate: -0.010543 deg/s,
      cmd heading: 236.748044 deg,
      new cmd heading: 236.736227 deg.

2025-06-25T20:44:07.577Z,1750884247.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131826 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:07.705Z,1750884247.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016069
2025-06-25T20:44:07.962Z,1750884247.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271833
2025-06-25T20:44:08.075Z,1750884248.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:08.082Z,1750884248.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 318.064758 m,
      bearing: 233.326865 deg,
      approach rate: -0.670602 m/s,
      LOS rate: -0.007721 deg/s,
      cmd heading: 236.736214 deg,
      new cmd heading: 236.724597 deg.

2025-06-25T20:44:08.083Z,1750884248.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131624 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:08.209Z,1750884248.209 [DAT](INFO): DAT read: Rx Time:20:44:08.8126

2025-06-25T20:44:08.210Z,1750884248.210 [DAT](INFO): Rx dataTimestamp_ set to:1750884248.209539
2025-06-25T20:44:08.211Z,1750884248.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521714
2025-06-25T20:44:08.397Z,1750884248.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:08.399Z,1750884248.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.67 m.
2025-06-25T20:44:08.402Z,1750884248.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.668091 m,
      nav range: 317.838806 m,
      bearing: 233.324280 deg,
      approach rate: -0.698064 m/s,
      LOS rate: -0.007993 deg/s,
      cmd heading: 236.724603 deg,
      new cmd heading: 236.716842 deg.

2025-06-25T20:44:08.403Z,1750884248.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131488 target range: 315.668091 and range: 318.70 m.
2025-06-25T20:44:08.462Z,1750884248.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772784
2025-06-25T20:44:08.719Z,1750884248.719 [DAT](INFO): DAT read: 20:44:08.8126 LVL= 24128, 27361, 20274, 32755, AGC= 73, IDX= 409, 0.40, 0.671,-0.887, 0.490, 0.006, PHS= 0.752,-0.847, 0.481, RAW= 140.9,  -5.3, CAL= 146.5, -14.7, ROT=   3.5,  14.7

2025-06-25T20:44:08.720Z,1750884248.720 [DAT](INFO): got valid direction response:
 20:44:08.8126 LVL= 24128, 27361, 20274, 32755, AGC= 73, IDX= 409, 0.40, 0.671,-0.887, 0.490, 0.006, PHS= 0.752,-0.847, 0.481, RAW= 140.9,  -5.3, CAL= 146.5, -14.7, ROT=   3.5,  14.7

2025-06-25T20:44:08.721Z,1750884248.721 [DAT](INFO): DAT read: Bearing   3.5,  14.7 (Local)

2025-06-25T20:44:08.721Z,1750884248.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  14.7 (Local)

2025-06-25T20:44:08.723Z,1750884248.723 [DAT](INFO): DAT read: Range 10 to 50 : 316.2 m  (Round-trip  421.6 ms) speed  0.4 m/s

2025-06-25T20:44:08.723Z,1750884248.723 [DAT](INFO): DAT read: user:627>

2025-06-25T20:44:08.724Z,1750884248.724 [DAT](INFO): DAT read: Tx time:20:44:09.9369

2025-06-25T20:44:08.725Z,1750884248.725 [DAT](INFO): Ping request sent.
2025-06-25T20:44:08.725Z,1750884248.725 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:08.725Z,1750884248.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:08.726Z,1750884248.726 [DAT](INFO): direction in FSK: [0.965464,0.059050,-0.253758]
2025-06-25T20:44:08.726Z,1750884248.726 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:08.726Z,1750884248.726 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:08.730Z,1750884248.730 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:08.730Z,1750884248.730 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:08.881Z,1750884248.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 316.200012 m,
      deltaT: 4.035740 s,
      deltaX: -2.500000 m,
      approachRate: -0.619465 m/s,
      rangeRepo size: 4

2025-06-25T20:44:08.883Z,1750884248.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 313.192108 m,
      bearing: 241.125587 deg,
      lat: 36.906018 deg,
      lon: -122.116242 deg,
      deltaT: 4.035740 s,
      deltaX: -2.475983 m,
      approachRate: -0.613514 m/s,
      posRepo size: 4

2025-06-25T20:44:08.883Z,1750884248.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:08.894Z,1750884248.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 317.521606 m,
      bearing: 233.320643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007993 deg/s,
      cmd heading: 236.716844 deg,
      new cmd heading: 236.705409 deg.

2025-06-25T20:44:08.895Z,1750884248.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131289 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:08.969Z,1750884248.969 [DAT](INFO): DAT read: TxSync time:20:44:09.9361

2025-06-25T20:44:09.254Z,1750884249.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:09.257Z,1750884249.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 317.256622 m,
      bearing: 233.318141 deg,
      approach rate: -0.701204 m/s,
      LOS rate: -0.006628 deg/s,
      cmd heading: 236.705397 deg,
      new cmd heading: 236.697883 deg.

2025-06-25T20:44:09.257Z,1750884249.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131157 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:09.629Z,1750884249.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:09.633Z,1750884249.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 317.013275 m,
      bearing: 233.315924 deg,
      approach rate: -0.650390 m/s,
      LOS rate: -0.005930 deg/s,
      cmd heading: 236.697883 deg,
      new cmd heading: 236.691228 deg.

2025-06-25T20:44:09.634Z,1750884249.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131041 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:10.078Z,1750884250.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:10.097Z,1750884250.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 316.695129 m,
      bearing: 233.314075 deg,
      approach rate: -0.707233 m/s,
      LOS rate: -0.004115 deg/s,
      cmd heading: 236.691217 deg,
      new cmd heading: 236.685664 deg.

2025-06-25T20:44:10.098Z,1750884250.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130944 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:10.414Z,1750884250.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:10.417Z,1750884250.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:10.419Z,1750884250.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 316.464142 m,
      bearing: 233.312701 deg,
      approach rate: -0.681373 m/s,
      LOS rate: -0.004055 deg/s,
      cmd heading: 236.685671 deg,
      new cmd heading: 236.681547 deg.

2025-06-25T20:44:10.436Z,1750884250.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130872 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:10.477Z,1750884250.477 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:10.477Z,1750884250.477 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:10.478Z,1750884250.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:10.729Z,1750884250.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004058
2025-06-25T20:44:10.833Z,1750884250.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:10.835Z,1750884250.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 316.179047 m,
      bearing: 233.310955 deg,
      approach rate: -0.685022 m/s,
      LOS rate: -0.004199 deg/s,
      cmd heading: 236.681546 deg,
      new cmd heading: 236.676303 deg.

2025-06-25T20:44:10.837Z,1750884250.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130781 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:10.983Z,1750884250.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258257
2025-06-25T20:44:11.233Z,1750884251.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508122
2025-06-25T20:44:11.267Z,1750884251.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:11.270Z,1750884251.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 315.886658 m,
      bearing: 233.310160 deg,
      approach rate: -0.674043 m/s,
      LOS rate: -0.001833 deg/s,
      cmd heading: 236.676300 deg,
      new cmd heading: 236.673914 deg.

2025-06-25T20:44:11.270Z,1750884251.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130739 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:11.485Z,1750884251.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760027
2025-06-25T20:44:11.675Z,1750884251.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:11.678Z,1750884251.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 315.619049 m,
      bearing: 233.309432 deg,
      approach rate: -0.655536 m/s,
      LOS rate: -0.001786 deg/s,
      cmd heading: 236.673923 deg,
      new cmd heading: 236.671736 deg.

2025-06-25T20:44:11.679Z,1750884251.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130701 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:11.738Z,1750884251.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012878
2025-06-25T20:44:11.990Z,1750884251.990 [DAT](INFO): DAT read: Rx Time:20:44:12.7589

2025-06-25T20:44:11.990Z,1750884251.990 [DAT](INFO): Rx dataTimestamp_ set to:1750884251.990015
2025-06-25T20:44:11.991Z,1750884251.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266164
2025-06-25T20:44:12.118Z,1750884252.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.19 m.
2025-06-25T20:44:12.121Z,1750884252.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.192108 m,
      nav range: 315.310913 m,
      bearing: 233.309755 deg,
      approach rate: -0.695019 m/s,
      LOS rate: 0.000730 deg/s,
      cmd heading: 236.671737 deg,
      new cmd heading: 236.672709 deg.

2025-06-25T20:44:12.122Z,1750884252.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130718 target range: 313.192108 and range: 316.20 m.
2025-06-25T20:44:12.241Z,1750884252.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516133
2025-06-25T20:44:12.499Z,1750884252.499 [DAT](INFO): DAT read: 20:44:12.7589 LVL= 31968, 32753, 28914, 32755, AGC= 69, IDX= 403,-0.07,-2.852, 2.021,-2.984, 2.823, PHS= 0.696,-0.755, 0.473, RAW= 141.8,  -6.2, CAL= 147.7, -15.6, ROT=   2.3,  15.6

2025-06-25T20:44:12.500Z,1750884252.500 [DAT](INFO): got valid direction response:
 20:44:12.7589 LVL= 31968, 32753, 28914, 32755, AGC= 69, IDX= 403,-0.07,-2.852, 2.021,-2.984, 2.823, PHS= 0.696,-0.755, 0.473, RAW= 141.8,  -6.2, CAL= 147.7, -15.6, ROT=   2.3,  15.6

2025-06-25T20:44:12.501Z,1750884252.501 [DAT](INFO): DAT read: Bearing   2.3,  15.6 (Local)

2025-06-25T20:44:12.502Z,1750884252.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  15.6 (Local)

2025-06-25T20:44:12.503Z,1750884252.503 [DAT](INFO): DAT read: Range 10 to 50 : 313.3 m  (Round-trip  417.8 ms) speed  0.3 m/s

2025-06-25T20:44:12.504Z,1750884252.504 [DAT](INFO): DAT read: user:628>

2025-06-25T20:44:12.505Z,1750884252.505 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:12.506Z,1750884252.506 [DAT](INFO): direction in FSK: [0.962387,0.038653,-0.268920]
2025-06-25T20:44:12.506Z,1750884252.506 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:12.524Z,1750884252.524 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:12.525Z,1750884252.525 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:12.525Z,1750884252.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:12.558Z,1750884252.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.299988 m,
      deltaT: 3.780806 s,
      deltaX: -2.900024 m,
      approachRate: -0.767039 m/s,
      rangeRepo size: 4

2025-06-25T20:44:12.569Z,1750884252.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 310.320923 m,
      bearing: 240.078344 deg,
      lat: 36.906323 deg,
      lon: -122.116337 deg,
      deltaT: 3.780806 s,
      deltaX: -2.871185 m,
      approachRate: -0.759411 m/s,
      posRepo size: 4

2025-06-25T20:44:12.570Z,1750884252.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:12.576Z,1750884252.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 303.275238 m,
      bearing: 239.407117 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000730 deg/s,
      cmd heading: 236.672721 deg,
      new cmd heading: 236.673645 deg.

2025-06-25T20:44:12.577Z,1750884252.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130734 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:12.745Z,1750884252.745 [DAT](INFO): DAT read: Tx time:20:44:13.8870

2025-06-25T20:44:12.745Z,1750884252.745 [DAT](INFO): Ping request sent.
2025-06-25T20:44:12.746Z,1750884252.746 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:12.746Z,1750884252.746 [DAT](INFO): DAT read: TxSync time:20:44:13.8862

2025-06-25T20:44:12.747Z,1750884252.747 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:12.747Z,1750884252.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001591
2025-06-25T20:44:12.888Z,1750884252.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:12.890Z,1750884252.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:12.897Z,1750884252.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 303.006165 m,
      bearing: 239.412830 deg,
      approach rate: -0.768241 m/s,
      LOS rate: 0.016323 deg/s,
      cmd heading: 236.673650 deg,
      new cmd heading: 236.690802 deg.

2025-06-25T20:44:12.898Z,1750884252.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131034 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:12.998Z,1750884252.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251771
2025-06-25T20:44:13.249Z,1750884253.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503237
2025-06-25T20:44:13.311Z,1750884253.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:13.314Z,1750884253.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 302.714874 m,
      bearing: 239.418109 deg,
      approach rate: -0.692572 m/s,
      LOS rate: 0.012564 deg/s,
      cmd heading: 236.690807 deg,
      new cmd heading: 236.706661 deg.

2025-06-25T20:44:13.315Z,1750884253.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131310 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:13.501Z,1750884253.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755580
2025-06-25T20:44:13.711Z,1750884253.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:13.717Z,1750884253.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 302.451752 m,
      bearing: 239.422906 deg,
      approach rate: -0.658241 m/s,
      LOS rate: 0.012012 deg/s,
      cmd heading: 236.706653 deg,
      new cmd heading: 236.721058 deg.

2025-06-25T20:44:13.718Z,1750884253.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131562 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:13.753Z,1750884253.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007384
2025-06-25T20:44:14.005Z,1750884254.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259186
2025-06-25T20:44:14.141Z,1750884254.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:14.160Z,1750884254.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 302.156219 m,
      bearing: 239.428118 deg,
      approach rate: -0.686572 m/s,
      LOS rate: 0.012119 deg/s,
      cmd heading: 236.721051 deg,
      new cmd heading: 236.736701 deg.

2025-06-25T20:44:14.161Z,1750884254.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131835 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:14.257Z,1750884254.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511270
2025-06-25T20:44:14.483Z,1750884254.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:14.486Z,1750884254.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 301.926208 m,
      bearing: 239.432185 deg,
      approach rate: -0.673244 m/s,
      LOS rate: 0.011913 deg/s,
      cmd heading: 236.736706 deg,
      new cmd heading: 236.748917 deg.

2025-06-25T20:44:14.487Z,1750884254.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132048 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:14.509Z,1750884254.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763208
2025-06-25T20:44:14.761Z,1750884254.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015175
2025-06-25T20:44:14.884Z,1750884254.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:14.887Z,1750884254.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 301.656128 m,
      bearing: 239.436992 deg,
      approach rate: -0.673143 m/s,
      LOS rate: 0.011992 deg/s,
      cmd heading: 236.748919 deg,
      new cmd heading: 236.763353 deg.

2025-06-25T20:44:14.888Z,1750884254.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132300 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:15.014Z,1750884255.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268050
2025-06-25T20:44:15.265Z,1750884255.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519478
2025-06-25T20:44:15.324Z,1750884255.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:15.326Z,1750884255.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:15.349Z,1750884255.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 301.356140 m,
      bearing: 239.441951 deg,
      approach rate: -0.678856 m/s,
      LOS rate: 0.011234 deg/s,
      cmd heading: 236.763344 deg,
      new cmd heading: 236.778237 deg.

2025-06-25T20:44:15.350Z,1750884255.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132560 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:15.517Z,1750884255.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771198
2025-06-25T20:44:15.708Z,1750884255.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:15.711Z,1750884255.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 301.106476 m,
      bearing: 239.446138 deg,
      approach rate: -0.682081 m/s,
      LOS rate: 0.011447 deg/s,
      cmd heading: 236.778234 deg,
      new cmd heading: 236.790804 deg.

2025-06-25T20:44:15.716Z,1750884255.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132779 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:15.770Z,1750884255.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024125
2025-06-25T20:44:16.021Z,1750884256.021 [DAT](INFO): DAT read: Rx Time:20:44:16.7053

2025-06-25T20:44:16.021Z,1750884256.021 [DAT](INFO): Rx dataTimestamp_ set to:1750884256.020949
2025-06-25T20:44:16.022Z,1750884256.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276166
2025-06-25T20:44:16.152Z,1750884256.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:16.155Z,1750884256.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 300.797119 m,
      bearing: 239.451367 deg,
      approach rate: -0.672651 m/s,
      LOS rate: 0.011381 deg/s,
      cmd heading: 236.790801 deg,
      new cmd heading: 236.806504 deg.

2025-06-25T20:44:16.156Z,1750884256.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133053 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:16.273Z,1750884256.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527296
2025-06-25T20:44:16.511Z,1750884256.511 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       -1.00,       +42.23,        +.00
2025-06-25T20:44:16.531Z,1750884256.531 [DAT](INFO): DAT read: 20:44:16.7053 LVL= 25072, 30273, 23986, 32755, AGC= 66, IDX= 398,-0.11, 1.990, 0.673, 1.816, 1.486, PHS= 0.592,-0.766, 0.327, RAW= 139.4,  -2.5, CAL= 144.5, -11.8, ROT=   5.5,  11.8

2025-06-25T20:44:16.532Z,1750884256.532 [DAT](INFO): got valid direction response:
 20:44:16.7053 LVL= 25072, 30273, 23986, 32755, AGC= 66, IDX= 398,-0.11, 1.990, 0.673, 1.816, 1.486, PHS= 0.592,-0.766, 0.327, RAW= 139.4,  -2.5, CAL= 144.5, -11.8, ROT=   5.5,  11.8

2025-06-25T20:44:16.533Z,1750884256.533 [DAT](INFO): DAT read: Bearing   5.5,  11.8 (Local)

2025-06-25T20:44:16.534Z,1750884256.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  11.8 (Local)

2025-06-25T20:44:16.538Z,1750884256.538 [DAT](INFO): DAT read: Range 10 to 50 : 310.6 m  (Round-trip  414.2 ms) speed  0.2 m/s

2025-06-25T20:44:16.543Z,1750884256.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.32 m.
2025-06-25T20:44:16.545Z,1750884256.545 [DAT](INFO): DAT read: user:629>

2025-06-25T20:44:16.546Z,1750884256.546 [DAT](INFO): DAT read: Tx time:20:44:17.7870

2025-06-25T20:44:16.546Z,1750884256.546 [DAT](INFO): Ping request sent.
2025-06-25T20:44:16.546Z,1750884256.546 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:16.546Z,1750884256.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:16.547Z,1750884256.547 [DAT](INFO): direction in FSK: [0.974361,0.093820,-0.204496]
2025-06-25T20:44:16.547Z,1750884256.547 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:16.548Z,1750884256.548 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:16.551Z,1750884256.551 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:16.554Z,1750884256.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.320923 m,
      nav range: 300.538788 m,
      bearing: 239.455723 deg,
      approach rate: -0.659747 m/s,
      LOS rate: 0.011136 deg/s,
      cmd heading: 236.806511 deg,
      new cmd heading: 236.819592 deg.

2025-06-25T20:44:16.555Z,1750884256.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133282 target range: 310.320923 and range: 313.30 m.
2025-06-25T20:44:16.584Z,1750884256.584 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:16.778Z,1750884256.778 [DAT](INFO): DAT read: TxSync time:20:44:17.7862

2025-06-25T20:44:16.905Z,1750884256.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 310.600006 m,
      deltaT: 4.031275 s,
      deltaX: -2.699982 m,
      approachRate: -0.669759 m/s,
      rangeRepo size: 4

2025-06-25T20:44:16.907Z,1750884256.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 307.646179 m,
      bearing: 242.799492 deg,
      lat: 36.906351 deg,
      lon: -122.116355 deg,
      deltaT: 4.031275 s,
      deltaX: -2.674744 m,
      approachRate: -0.663498 m/s,
      posRepo size: 4

2025-06-25T20:44:16.907Z,1750884256.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:16.910Z,1750884256.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 300.134827 m,
      bearing: 240.139055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011136 deg/s,
      cmd heading: 236.819597 deg,
      new cmd heading: 236.831644 deg.

2025-06-25T20:44:16.911Z,1750884256.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133492 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:17.340Z,1750884257.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:17.343Z,1750884257.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:17.346Z,1750884257.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 299.829437 m,
      bearing: 240.143084 deg,
      approach rate: -0.696378 m/s,
      LOS rate: 0.009198 deg/s,
      cmd heading: 236.831646 deg,
      new cmd heading: 236.843747 deg.

2025-06-25T20:44:17.347Z,1750884257.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133703 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:17.532Z,1750884257.532 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:17.533Z,1750884257.533 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:17.533Z,1750884257.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:17.717Z,1750884257.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:17.725Z,1750884257.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 299.569580 m,
      bearing: 240.146515 deg,
      approach rate: -0.693581 m/s,
      LOS rate: 0.009166 deg/s,
      cmd heading: 236.843749 deg,
      new cmd heading: 236.854051 deg.

2025-06-25T20:44:17.726Z,1750884257.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133883 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:17.785Z,1750884257.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239248
2025-06-25T20:44:18.037Z,1750884258.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490788
2025-06-25T20:44:18.173Z,1750884258.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:18.197Z,1750884258.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 299.254272 m,
      bearing: 240.150687 deg,
      approach rate: -0.691746 m/s,
      LOS rate: 0.009162 deg/s,
      cmd heading: 236.854049 deg,
      new cmd heading: 236.866578 deg.

2025-06-25T20:44:18.198Z,1750884258.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134102 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:18.289Z,1750884258.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742936
2025-06-25T20:44:18.541Z,1750884258.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994949
2025-06-25T20:44:18.555Z,1750884258.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:18.558Z,1750884258.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 298.991852 m,
      bearing: 240.154661 deg,
      approach rate: -0.686505 m/s,
      LOS rate: 0.010406 deg/s,
      cmd heading: 236.866589 deg,
      new cmd heading: 236.878522 deg.

2025-06-25T20:44:18.559Z,1750884258.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134310 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:18.793Z,1750884258.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246881
2025-06-25T20:44:18.932Z,1750884258.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:18.935Z,1750884258.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 298.732880 m,
      bearing: 240.158532 deg,
      approach rate: -0.687191 m/s,
      LOS rate: 0.010280 deg/s,
      cmd heading: 236.878528 deg,
      new cmd heading: 236.890151 deg.

2025-06-25T20:44:18.936Z,1750884258.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134513 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:19.045Z,1750884259.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499201
2025-06-25T20:44:19.297Z,1750884259.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750947
2025-06-25T20:44:19.368Z,1750884259.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:19.370Z,1750884259.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:19.389Z,1750884259.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 298.427490 m,
      bearing: 240.162301 deg,
      approach rate: -0.696640 m/s,
      LOS rate: 0.008606 deg/s,
      cmd heading: 236.890140 deg,
      new cmd heading: 236.901457 deg.

2025-06-25T20:44:19.390Z,1750884259.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134710 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:19.549Z,1750884259.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002810
2025-06-25T20:44:19.730Z,1750884259.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:19.749Z,1750884259.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 298.176453 m,
      bearing: 240.165398 deg,
      approach rate: -0.698464 m/s,
      LOS rate: 0.008623 deg/s,
      cmd heading: 236.901450 deg,
      new cmd heading: 236.910748 deg.

2025-06-25T20:44:19.750Z,1750884259.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134872 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:19.801Z,1750884259.801 [DAT](INFO): DAT read: Rx Time:20:44:20.6019

2025-06-25T20:44:19.802Z,1750884259.802 [DAT](INFO): Rx dataTimestamp_ set to:1750884259.801800
2025-06-25T20:44:19.803Z,1750884259.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257023
2025-06-25T20:44:20.053Z,1750884260.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506858
2025-06-25T20:44:20.201Z,1750884260.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:20.203Z,1750884260.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 297.868317 m,
      bearing: 240.169232 deg,
      approach rate: -0.654290 m/s,
      LOS rate: 0.008151 deg/s,
      cmd heading: 236.910739 deg,
      new cmd heading: 236.922255 deg.

2025-06-25T20:44:20.209Z,1750884260.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135073 target range: 307.646179 and range: 310.60 m.
2025-06-25T20:44:20.307Z,1750884260.307 [DAT](INFO): DAT read: Range 10 to 50 : 308.1 m  (Round-trip  410.8 ms) speed  0.7 m/s

2025-06-25T20:44:20.308Z,1750884260.308 [DAT](INFO): DAT read: user:630>

2025-06-25T20:44:20.310Z,1750884260.310 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:44:20.313Z,1750884260.313 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:20.313Z,1750884260.313 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:20.313Z,1750884260.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:20.557Z,1750884260.557 [DAT](INFO): DAT read: Tx time:20:44:21.6870

2025-06-25T20:44:20.557Z,1750884260.557 [DAT](INFO): Ping request sent.
2025-06-25T20:44:20.557Z,1750884260.557 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:20.558Z,1750884260.558 [DAT](INFO): DAT read: TxSync time:20:44:21.6862

2025-06-25T20:44:20.558Z,1750884260.558 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:20.559Z,1750884260.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001581
2025-06-25T20:44:20.568Z,1750884260.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.100006 m,
      deltaT: 3.780402 s,
      deltaX: -2.500000 m,
      approachRate: -0.661305 m/s,
      rangeRepo size: 4

2025-06-25T20:44:20.569Z,1750884260.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:20.571Z,1750884260.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 297.593903 m,
      bearing: 240.173596 deg,
      approach rate: -0.748967 m/s,
      LOS rate: 0.011922 deg/s,
      cmd heading: 236.922241 deg,
      new cmd heading: 236.935345 deg.

2025-06-25T20:44:20.572Z,1750884260.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135302 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:20.809Z,1750884260.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251463
2025-06-25T20:44:20.940Z,1750884260.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:20.943Z,1750884260.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 297.330017 m,
      bearing: 240.177858 deg,
      approach rate: -0.707992 m/s,
      LOS rate: 0.011445 deg/s,
      cmd heading: 236.935355 deg,
      new cmd heading: 236.948153 deg.

2025-06-25T20:44:20.944Z,1750884260.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135525 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:21.061Z,1750884261.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503275
2025-06-25T20:44:21.313Z,1750884261.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755256
2025-06-25T20:44:21.373Z,1750884261.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:21.375Z,1750884261.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:21.378Z,1750884261.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 297.033752 m,
      bearing: 240.183515 deg,
      approach rate: -0.680887 m/s,
      LOS rate: 0.013014 deg/s,
      cmd heading: 236.948142 deg,
      new cmd heading: 236.965130 deg.

2025-06-25T20:44:21.379Z,1750884261.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135822 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:21.566Z,1750884261.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008451
2025-06-25T20:44:21.772Z,1750884261.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:21.774Z,1750884261.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 296.763062 m,
      bearing: 240.188693 deg,
      approach rate: -0.682672 m/s,
      LOS rate: 0.013071 deg/s,
      cmd heading: 236.965135 deg,
      new cmd heading: 236.980683 deg.

2025-06-25T20:44:21.775Z,1750884261.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136093 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:21.818Z,1750884261.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260580
2025-06-25T20:44:22.069Z,1750884262.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511345
2025-06-25T20:44:22.205Z,1750884262.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:22.223Z,1750884262.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 296.500488 m,
      bearing: 240.193557 deg,
      approach rate: -0.613952 m/s,
      LOS rate: 0.011383 deg/s,
      cmd heading: 236.980681 deg,
      new cmd heading: 236.995285 deg.

2025-06-25T20:44:22.228Z,1750884262.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136348 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:22.322Z,1750884262.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764119
2025-06-25T20:44:22.573Z,1750884262.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015389
2025-06-25T20:44:22.583Z,1750884262.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:22.586Z,1750884262.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 296.210480 m,
      bearing: 240.197902 deg,
      approach rate: -0.756205 m/s,
      LOS rate: 0.011341 deg/s,
      cmd heading: 236.995297 deg,
      new cmd heading: 237.008345 deg.

2025-06-25T20:44:22.587Z,1750884262.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136576 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:22.825Z,1750884262.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267261
2025-06-25T20:44:22.961Z,1750884262.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:22.964Z,1750884262.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 295.952820 m,
      bearing: 240.201771 deg,
      approach rate: -0.681215 m/s,
      LOS rate: 0.010238 deg/s,
      cmd heading: 237.008357 deg,
      new cmd heading: 237.019973 deg.

2025-06-25T20:44:22.965Z,1750884262.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136779 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:23.077Z,1750884263.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519412
2025-06-25T20:44:23.222Z,1750884263.222 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:44:23.329Z,1750884263.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771261
2025-06-25T20:44:23.403Z,1750884263.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:23.405Z,1750884263.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:23.408Z,1750884263.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 295.653137 m,
      bearing: 240.207399 deg,
      approach rate: -0.674406 m/s,
      LOS rate: 0.012677 deg/s,
      cmd heading: 237.019968 deg,
      new cmd heading: 237.036868 deg.

2025-06-25T20:44:23.409Z,1750884263.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137074 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:23.581Z,1750884263.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023285
2025-06-25T20:44:23.769Z,1750884263.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:23.772Z,1750884263.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 295.407166 m,
      bearing: 240.212013 deg,
      approach rate: -0.675980 m/s,
      LOS rate: 0.012693 deg/s,
      cmd heading: 237.036879 deg,
      new cmd heading: 237.050735 deg.

2025-06-25T20:44:23.773Z,1750884263.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137316 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:23.834Z,1750884263.834 [DAT](INFO): DAT read: Rx Time:20:44:24.4982

2025-06-25T20:44:23.835Z,1750884263.835 [DAT](INFO): Rx dataTimestamp_ set to:1750884263.834067
2025-06-25T20:44:23.836Z,1750884263.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278179
2025-06-25T20:44:24.085Z,1750884264.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527257
2025-06-25T20:44:24.226Z,1750884264.226 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:44:24.257Z,1750884264.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.65 m.
2025-06-25T20:44:24.259Z,1750884264.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.646179 m,
      nav range: 295.134430 m,
      bearing: 240.217101 deg,
      approach rate: -0.559407 m/s,
      LOS rate: 0.010444 deg/s,
      cmd heading: 237.050731 deg,
      new cmd heading: 237.066007 deg.

2025-06-25T20:44:24.265Z,1750884264.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137582 target range: 307.646179 and range: 308.10 m.
2025-06-25T20:44:24.346Z,1750884264.346 [DAT](INFO): DAT read: 20:44:24.4983 LVL= 29488, 32753, 29042, 32755, AGC= 67, IDX= 404, 0.28, 2.276, 0.931, 2.191, 1.685, PHS= 0.679,-0.707, 0.503, RAW= 143.3,  -7.3, CAL= 149.5, -16.5, ROT=   0.5,  16.5

2025-06-25T20:44:24.348Z,1750884264.348 [DAT](INFO): got valid direction response:
 20:44:24.4983 LVL= 29488, 32753, 29042, 32755, AGC= 67, IDX= 404, 0.28, 2.276, 0.931, 2.191, 1.685, PHS= 0.679,-0.707, 0.503, RAW= 143.3,  -7.3, CAL= 149.5, -16.5, ROT=   0.5,  16.5

2025-06-25T20:44:24.350Z,1750884264.350 [DAT](INFO): DAT read: Bearing   0.5,  16.5 (Local)

2025-06-25T20:44:24.350Z,1750884264.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  16.5 (Local)

2025-06-25T20:44:24.352Z,1750884264.352 [DAT](INFO): DAT read: Range 10 to 50 : 305.3 m  (Round-trip  407.1 ms) speed  0.4 m/s

2025-06-25T20:44:24.353Z,1750884264.353 [DAT](INFO): DAT read: user:631>

2025-06-25T20:44:24.355Z,1750884264.355 [DAT](INFO): DAT read: Tx time:20:44:25.5871

2025-06-25T20:44:24.355Z,1750884264.355 [DAT](INFO): Ping request sent.
2025-06-25T20:44:24.355Z,1750884264.355 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:24.355Z,1750884264.355 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:24.364Z,1750884264.364 [DAT](INFO): direction in FSK: [0.958783,0.008367,-0.284015]
2025-06-25T20:44:24.365Z,1750884264.365 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:24.365Z,1750884264.365 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:24.376Z,1750884264.376 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:24.377Z,1750884264.377 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:24.589Z,1750884264.589 [DAT](INFO): DAT read: TxSync time:20:44:25.5863

2025-06-25T20:44:24.633Z,1750884264.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.299988 m,
      deltaT: 4.031932 s,
      deltaX: -2.800018 m,
      approachRate: -0.694461 m/s,
      rangeRepo size: 4

2025-06-25T20:44:24.640Z,1750884264.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.398285 m,
      bearing: 238.530228 deg,
      lat: 36.906351 deg,
      lon: -122.116355 deg,
      deltaT: 7.812334 s,
      deltaX: -5.247894 m,
      approachRate: -0.671745 m/s,
      posRepo size: 4

2025-06-25T20:44:24.641Z,1750884264.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:24.649Z,1750884264.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 294.850739 m,
      bearing: 240.222390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010444 deg/s,
      cmd heading: 237.066003 deg,
      new cmd heading: 237.076988 deg.

2025-06-25T20:44:24.651Z,1750884264.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137774 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:25.023Z,1750884265.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:25.026Z,1750884265.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 294.573792 m,
      bearing: 240.227563 deg,
      approach rate: -0.665759 m/s,
      LOS rate: 0.012448 deg/s,
      cmd heading: 237.076986 deg,
      new cmd heading: 237.092521 deg.

2025-06-25T20:44:25.027Z,1750884265.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138045 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:25.421Z,1750884265.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:25.423Z,1750884265.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:25.430Z,1750884265.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 294.321320 m,
      bearing: 240.232398 deg,
      approach rate: -0.631344 m/s,
      LOS rate: 0.012100 deg/s,
      cmd heading: 237.092532 deg,
      new cmd heading: 237.107049 deg.

2025-06-25T20:44:25.431Z,1750884265.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138299 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:25.596Z,1750884265.596 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:25.597Z,1750884265.597 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:25.597Z,1750884265.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:25.790Z,1750884265.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:25.793Z,1750884265.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 294.063477 m,
      bearing: 240.237289 deg,
      approach rate: -0.703213 m/s,
      LOS rate: 0.013352 deg/s,
      cmd heading: 237.107039 deg,
      new cmd heading: 237.121726 deg.

2025-06-25T20:44:25.794Z,1750884265.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138555 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:25.850Z,1750884265.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494890
2025-06-25T20:44:26.102Z,1750884266.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746922
2025-06-25T20:44:26.225Z,1750884266.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:26.249Z,1750884266.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 293.792603 m,
      bearing: 240.242372 deg,
      approach rate: -0.631033 m/s,
      LOS rate: 0.011851 deg/s,
      cmd heading: 237.121738 deg,
      new cmd heading: 237.136999 deg.

2025-06-25T20:44:26.257Z,1750884266.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138822 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:26.353Z,1750884266.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998465
2025-06-25T20:44:26.605Z,1750884266.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249893
2025-06-25T20:44:26.618Z,1750884266.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:26.622Z,1750884266.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 293.512512 m,
      bearing: 240.247702 deg,
      approach rate: -0.701703 m/s,
      LOS rate: 0.013367 deg/s,
      cmd heading: 237.137010 deg,
      new cmd heading: 237.153017 deg.

2025-06-25T20:44:26.623Z,1750884266.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139101 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:26.857Z,1750884266.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501791
2025-06-25T20:44:27.020Z,1750884267.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:27.022Z,1750884267.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 293.259796 m,
      bearing: 240.252483 deg,
      approach rate: -0.636114 m/s,
      LOS rate: 0.012043 deg/s,
      cmd heading: 237.153020 deg,
      new cmd heading: 237.167374 deg.

2025-06-25T20:44:27.023Z,1750884267.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139351 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:27.110Z,1750884267.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754533
2025-06-25T20:44:27.361Z,1750884267.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005795
2025-06-25T20:44:27.460Z,1750884267.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:27.462Z,1750884267.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:27.465Z,1750884267.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 292.952118 m,
      bearing: 240.257990 deg,
      approach rate: -0.689368 m/s,
      LOS rate: 0.012353 deg/s,
      cmd heading: 237.167363 deg,
      new cmd heading: 237.183903 deg.

2025-06-25T20:44:27.466Z,1750884267.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139640 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:27.613Z,1750884267.613 [DAT](INFO): DAT read: Rx Time:20:44:28.3947

2025-06-25T20:44:27.613Z,1750884267.613 [DAT](INFO): Rx dataTimestamp_ set to:1750884267.613130
2025-06-25T20:44:27.614Z,1750884267.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258977
2025-06-25T20:44:27.823Z,1750884267.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.40 m.
2025-06-25T20:44:27.826Z,1750884267.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.398285 m,
      nav range: 292.721619 m,
      bearing: 240.262111 deg,
      approach rate: -0.637541 m/s,
      LOS rate: 0.011406 deg/s,
      cmd heading: 237.183892 deg,
      new cmd heading: 237.196263 deg.

2025-06-25T20:44:27.827Z,1750884267.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139856 target range: 302.398285 and range: 305.30 m.
2025-06-25T20:44:27.865Z,1750884267.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509819
2025-06-25T20:44:28.133Z,1750884268.133 [DAT](INFO): DAT read: 20:44:28.3947 LVL= 28704, 29281, 27602, 32755, AGC= 71, IDX= 400,-0.23,-2.232, 2.496,-2.386,-2.830, PHS= 0.686,-0.910, 0.441, RAW= 141.8,  -2.9, CAL= 146.8, -12.1, ROT=   3.2,  12.1

2025-06-25T20:44:28.134Z,1750884268.134 [DAT](INFO): got valid direction response:
 20:44:28.3947 LVL= 28704, 29281, 27602, 32755, AGC= 71, IDX= 400,-0.23,-2.232, 2.496,-2.386,-2.830, PHS= 0.686,-0.910, 0.441, RAW= 141.8,  -2.9, CAL= 146.8, -12.1, ROT=   3.2,  12.1

2025-06-25T20:44:28.135Z,1750884268.135 [DAT](INFO): DAT read: Bearing   3.2,  12.1 (Local)

2025-06-25T20:44:28.135Z,1750884268.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  12.1 (Local)

2025-06-25T20:44:28.137Z,1750884268.137 [DAT](INFO): DAT read: Range 10 to 50 : 302.6 m  (Round-trip  403.5 ms) speed  0.7 m/s

2025-06-25T20:44:28.138Z,1750884268.138 [DAT](INFO): DAT read: user:632>

2025-06-25T20:44:28.138Z,1750884268.138 [DAT](INFO): DAT read: Tx time:20:44:29.4871

2025-06-25T20:44:28.139Z,1750884268.139 [DAT](INFO): Ping request sent.
2025-06-25T20:44:28.139Z,1750884268.139 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:28.139Z,1750884268.139 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:28.140Z,1750884268.140 [DAT](INFO): direction in FSK: [0.976259,0.054581,-0.209619]
2025-06-25T20:44:28.141Z,1750884268.141 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:28.141Z,1750884268.141 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:28.157Z,1750884268.157 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:28.157Z,1750884268.157 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:28.316Z,1750884268.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.600006 m,
      deltaT: 3.781184 s,
      deltaX: -2.699982 m,
      approachRate: -0.714057 m/s,
      rangeRepo size: 4

2025-06-25T20:44:28.318Z,1750884268.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.723206 m,
      bearing: 240.913879 deg,
      lat: 36.906363 deg,
      lon: -122.116404 deg,
      deltaT: 3.781184 s,
      deltaX: -2.675079 m,
      approachRate: -0.707471 m/s,
      posRepo size: 4

2025-06-25T20:44:28.319Z,1750884268.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:28.333Z,1750884268.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 295.617798 m,
      bearing: 240.902028 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011406 deg/s,
      cmd heading: 237.196269 deg,
      new cmd heading: 237.212612 deg.

2025-06-25T20:44:28.335Z,1750884268.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140141 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:28.369Z,1750884268.369 [DAT](INFO): DAT read: TxSync time:20:44:29.4863

2025-06-25T20:44:28.684Z,1750884268.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:28.687Z,1750884268.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 295.325745 m,
      bearing: 240.907480 deg,
      approach rate: -0.771421 m/s,
      LOS rate: 0.014415 deg/s,
      cmd heading: 237.212606 deg,
      new cmd heading: 237.228978 deg.

2025-06-25T20:44:28.687Z,1750884268.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140427 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:29.041Z,1750884269.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:29.044Z,1750884269.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 295.070709 m,
      bearing: 240.912314 deg,
      approach rate: -0.705379 m/s,
      LOS rate: 0.013381 deg/s,
      cmd heading: 237.228972 deg,
      new cmd heading: 237.243486 deg.

2025-06-25T20:44:29.045Z,1750884269.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140680 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:29.477Z,1750884269.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:29.486Z,1750884269.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:29.492Z,1750884269.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 294.782440 m,
      bearing: 240.919558 deg,
      approach rate: -0.649499 m/s,
      LOS rate: 0.016337 deg/s,
      cmd heading: 237.243479 deg,
      new cmd heading: 237.265232 deg.

2025-06-25T20:44:29.493Z,1750884269.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141059 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:29.629Z,1750884269.629 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:29.629Z,1750884269.629 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:29.629Z,1750884269.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:29.843Z,1750884269.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:29.846Z,1750884269.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 294.514709 m,
      bearing: 240.926307 deg,
      approach rate: -0.748355 m/s,
      LOS rate: 0.018884 deg/s,
      cmd heading: 237.265226 deg,
      new cmd heading: 237.285494 deg.

2025-06-25T20:44:29.847Z,1750884269.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141413 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:29.882Z,1750884269.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742618
2025-06-25T20:44:30.133Z,1750884270.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993882
2025-06-25T20:44:30.248Z,1750884270.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:30.251Z,1750884270.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 294.238556 m,
      bearing: 240.933306 deg,
      approach rate: -0.682378 m/s,
      LOS rate: 0.017310 deg/s,
      cmd heading: 237.285498 deg,
      new cmd heading: 237.306514 deg.

2025-06-25T20:44:30.274Z,1750884270.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141780 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:30.385Z,1750884270.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246052
2025-06-25T20:44:30.638Z,1750884270.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498688
2025-06-25T20:44:30.693Z,1750884270.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:30.695Z,1750884270.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 293.930176 m,
      bearing: 240.937804 deg,
      approach rate: -0.693097 m/s,
      LOS rate: 0.010120 deg/s,
      cmd heading: 237.306508 deg,
      new cmd heading: 237.320016 deg.

2025-06-25T20:44:30.696Z,1750884270.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142015 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:30.889Z,1750884270.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749810
2025-06-25T20:44:31.060Z,1750884271.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:31.062Z,1750884271.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 293.683655 m,
      bearing: 240.941436 deg,
      approach rate: -0.671633 m/s,
      LOS rate: 0.009903 deg/s,
      cmd heading: 237.320004 deg,
      new cmd heading: 237.330909 deg.

2025-06-25T20:44:31.063Z,1750884271.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142206 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:31.145Z,1750884271.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005702
2025-06-25T20:44:31.393Z,1750884271.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253937
2025-06-25T20:44:31.498Z,1750884271.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:31.504Z,1750884271.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:31.506Z,1750884271.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 293.387207 m,
      bearing: 240.946143 deg,
      approach rate: -0.673642 m/s,
      LOS rate: 0.010707 deg/s,
      cmd heading: 237.330905 deg,
      new cmd heading: 237.345040 deg.

2025-06-25T20:44:31.507Z,1750884271.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142452 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:31.645Z,1750884271.645 [DAT](INFO): DAT read: Rx Time:20:44:32.2912

2025-06-25T20:44:31.646Z,1750884271.646 [DAT](INFO): Rx dataTimestamp_ set to:1750884271.645584
2025-06-25T20:44:31.647Z,1750884271.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507723
2025-06-25T20:44:31.862Z,1750884271.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.72 m.
2025-06-25T20:44:31.865Z,1750884271.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.723206 m,
      nav range: 293.123596 m,
      bearing: 240.950318 deg,
      approach rate: -0.726936 m/s,
      LOS rate: 0.011523 deg/s,
      cmd heading: 237.345030 deg,
      new cmd heading: 237.357566 deg.

2025-06-25T20:44:31.866Z,1750884271.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142671 target range: 299.723206 and range: 302.60 m.
2025-06-25T20:44:31.897Z,1750884271.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758256
2025-06-25T20:44:32.155Z,1750884272.155 [DAT](INFO): DAT read: 20:44:32.2912 LVL= 29760, 32753, 30258, 32755, AGC= 67, IDX= 412, 0.16,-0.563,-1.885,-0.678,-1.099, PHS= 0.624,-0.739, 0.419, RAW= 142.0,  -4.8, CAL= 147.5, -14.1, ROT=   2.5,  14.1

2025-06-25T20:44:32.156Z,1750884272.156 [DAT](INFO): got valid direction response:
 20:44:32.2912 LVL= 29760, 32753, 30258, 32755, AGC= 67, IDX= 412, 0.16,-0.563,-1.885,-0.678,-1.099, PHS= 0.624,-0.739, 0.419, RAW= 142.0,  -4.8, CAL= 147.5, -14.1, ROT=   2.5,  14.1

2025-06-25T20:44:32.157Z,1750884272.157 [DAT](INFO): DAT read: Bearing   2.5,  14.1 (Local)

2025-06-25T20:44:32.157Z,1750884272.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  14.1 (Local)

2025-06-25T20:44:32.159Z,1750884272.159 [DAT](INFO): DAT read: Range 10 to 50 : 300.0 m  (Round-trip  400.0 ms) speed  0.2 m/s

2025-06-25T20:44:32.159Z,1750884272.159 [DAT](INFO): DAT read: user:633>

2025-06-25T20:44:32.160Z,1750884272.160 [DAT](INFO): DAT read: Tx time:20:44:33.3871

2025-06-25T20:44:32.160Z,1750884272.160 [DAT](INFO): Ping request sent.
2025-06-25T20:44:32.160Z,1750884272.160 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:32.161Z,1750884272.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:32.162Z,1750884272.162 [DAT](INFO): direction in FSK: [0.968949,0.042305,-0.243615]
2025-06-25T20:44:32.162Z,1750884272.162 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:32.162Z,1750884272.162 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:32.166Z,1750884272.166 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:32.166Z,1750884272.166 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:32.361Z,1750884272.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.000000 m,
      deltaT: 4.030357 s,
      deltaX: -2.600006 m,
      approachRate: -0.645106 m/s,
      rangeRepo size: 4

2025-06-25T20:44:32.377Z,1750884272.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.149445 m,
      bearing: 240.299363 deg,
      lat: 36.906351 deg,
      lon: -122.116372 deg,
      deltaT: 4.030357 s,
      deltaX: -2.573761 m,
      approachRate: -0.638594 m/s,
      posRepo size: 4

2025-06-25T20:44:32.377Z,1750884272.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:32.384Z,1750884272.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 290.970612 m,
      bearing: 240.461794 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011523 deg/s,
      cmd heading: 237.357570 deg,
      new cmd heading: 237.374541 deg.

2025-06-25T20:44:32.385Z,1750884272.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142967 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:32.401Z,1750884272.401 [DAT](INFO): DAT read: TxSync time:20:44:33.3863

2025-06-25T20:44:32.744Z,1750884272.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:32.746Z,1750884272.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 290.651337 m,
      bearing: 240.466388 deg,
      approach rate: -0.817725 m/s,
      LOS rate: 0.011779 deg/s,
      cmd heading: 237.374537 deg,
      new cmd heading: 237.388334 deg.

2025-06-25T20:44:32.747Z,1750884272.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143208 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:33.122Z,1750884273.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:33.124Z,1750884273.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 290.392456 m,
      bearing: 240.470120 deg,
      approach rate: -0.684773 m/s,
      LOS rate: 0.009881 deg/s,
      cmd heading: 237.388334 deg,
      new cmd heading: 237.399540 deg.

2025-06-25T20:44:33.125Z,1750884273.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143404 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:33.544Z,1750884273.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:33.546Z,1750884273.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:33.553Z,1750884273.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 290.099884 m,
      bearing: 240.474691 deg,
      approach rate: -0.688992 m/s,
      LOS rate: 0.010774 deg/s,
      cmd heading: 237.399535 deg,
      new cmd heading: 237.413261 deg.

2025-06-25T20:44:33.554Z,1750884273.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143643 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:33.662Z,1750884273.662 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:33.662Z,1750884273.662 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:33.662Z,1750884273.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:33.913Z,1750884273.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752315
2025-06-25T20:44:33.915Z,1750884273.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:33.918Z,1750884273.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 289.843109 m,
      bearing: 240.478676 deg,
      approach rate: -0.696303 m/s,
      LOS rate: 0.010815 deg/s,
      cmd heading: 237.413250 deg,
      new cmd heading: 237.425215 deg.

2025-06-25T20:44:33.919Z,1750884273.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143852 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:34.165Z,1750884274.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004221
2025-06-25T20:44:34.328Z,1750884274.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:34.331Z,1750884274.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 289.552185 m,
      bearing: 240.483199 deg,
      approach rate: -0.704770 m/s,
      LOS rate: 0.010968 deg/s,
      cmd heading: 237.425217 deg,
      new cmd heading: 237.438800 deg.

2025-06-25T20:44:34.334Z,1750884274.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144089 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:34.417Z,1750884274.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256432
2025-06-25T20:44:34.671Z,1750884274.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510472
2025-06-25T20:44:34.757Z,1750884274.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:34.759Z,1750884274.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 289.257080 m,
      bearing: 240.488605 deg,
      approach rate: -0.688189 m/s,
      LOS rate: 0.012619 deg/s,
      cmd heading: 237.438795 deg,
      new cmd heading: 237.455029 deg.

2025-06-25T20:44:34.760Z,1750884274.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144372 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:34.925Z,1750884274.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764212
2025-06-25T20:44:35.138Z,1750884275.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:35.141Z,1750884275.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 288.994263 m,
      bearing: 240.493387 deg,
      approach rate: -0.688755 m/s,
      LOS rate: 0.012545 deg/s,
      cmd heading: 237.455024 deg,
      new cmd heading: 237.469384 deg.

2025-06-25T20:44:35.142Z,1750884275.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144623 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:35.180Z,1750884275.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019063
2025-06-25T20:44:35.429Z,1750884275.429 [DAT](INFO): DAT read: Rx Time:20:44:36.1875

2025-06-25T20:44:35.429Z,1750884275.429 [DAT](INFO): Rx dataTimestamp_ set to:1750884275.429063
2025-06-25T20:44:35.430Z,1750884275.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269376
2025-06-25T20:44:35.551Z,1750884275.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:35.553Z,1750884275.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.15 m.
2025-06-25T20:44:35.556Z,1750884275.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.149445 m,
      nav range: 288.711182 m,
      bearing: 240.498764 deg,
      approach rate: -0.681785 m/s,
      LOS rate: 0.012962 deg/s,
      cmd heading: 237.469394 deg,
      new cmd heading: 237.485540 deg.

2025-06-25T20:44:35.557Z,1750884275.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144905 target range: 297.149445 and range: 300.00 m.
2025-06-25T20:44:35.681Z,1750884275.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520289
2025-06-25T20:44:35.939Z,1750884275.939 [DAT](INFO): DAT read: 20:44:36.1875 LVL= 25392, 31713, 25394, 32755, AGC= 71, IDX= 406, 0.16,-0.718,-2.108,-0.801,-1.261, PHS= 0.631,-0.800, 0.457, RAW= 143.6,  -4.3, CAL= 148.9, -13.4, ROT=   1.1,  13.4

2025-06-25T20:44:35.940Z,1750884275.940 [DAT](INFO): got valid direction response:
 20:44:36.1875 LVL= 25392, 31713, 25394, 32755, AGC= 71, IDX= 406, 0.16,-0.718,-2.108,-0.801,-1.261, PHS= 0.631,-0.800, 0.457, RAW= 143.6,  -4.3, CAL= 148.9, -13.4, ROT=   1.1,  13.4

2025-06-25T20:44:35.941Z,1750884275.941 [DAT](INFO): DAT read: Bearing   1.1,  13.4 (Local)

2025-06-25T20:44:35.941Z,1750884275.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  13.4 (Local)

2025-06-25T20:44:35.943Z,1750884275.943 [DAT](INFO): DAT read: Range 10 to 50 : 297.1 m  (Round-trip  396.2 ms) speed  0.7 m/s

2025-06-25T20:44:35.944Z,1750884275.944 [DAT](INFO): DAT read: user:634>

2025-06-25T20:44:35.944Z,1750884275.944 [DAT](INFO): DAT read: Tx time:20:44:37.2871

2025-06-25T20:44:35.945Z,1750884275.945 [DAT](INFO): Ping request sent.
2025-06-25T20:44:35.945Z,1750884275.945 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:35.945Z,1750884275.945 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:35.946Z,1750884275.946 [DAT](INFO): direction in FSK: [0.972597,0.018675,-0.231748]
2025-06-25T20:44:35.946Z,1750884275.946 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:35.947Z,1750884275.947 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:35.950Z,1750884275.950 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:35.950Z,1750884275.950 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:36.018Z,1750884276.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.100006 m,
      deltaT: 3.784183 s,
      deltaX: -2.899994 m,
      approachRate: -0.766346 m/s,
      rangeRepo size: 4

2025-06-25T20:44:36.025Z,1750884276.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.278290 m,
      bearing: 239.270740 deg,
      lat: 36.906343 deg,
      lon: -122.116372 deg,
      deltaT: 3.784183 s,
      deltaX: -2.871155 m,
      approachRate: -0.758725 m/s,
      posRepo size: 4

2025-06-25T20:44:36.025Z,1750884276.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:36.036Z,1750884276.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 288.889618 m,
      bearing: 240.341324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012962 deg/s,
      cmd heading: 237.485541 deg,
      new cmd heading: 237.503599 deg.

2025-06-25T20:44:36.037Z,1750884276.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145220 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:36.185Z,1750884276.185 [DAT](INFO): DAT read: TxSync time:20:44:37.2863

2025-06-25T20:44:36.328Z,1750884276.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:36.331Z,1750884276.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 288.647736 m,
      bearing: 240.345739 deg,
      approach rate: -0.779868 m/s,
      LOS rate: 0.014247 deg/s,
      cmd heading: 237.503600 deg,
      new cmd heading: 237.516856 deg.

2025-06-25T20:44:36.332Z,1750884276.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145451 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:36.761Z,1750884276.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:36.784Z,1750884276.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 288.354218 m,
      bearing: 240.351259 deg,
      approach rate: -0.677411 m/s,
      LOS rate: 0.012751 deg/s,
      cmd heading: 237.516850 deg,
      new cmd heading: 237.533425 deg.

2025-06-25T20:44:36.785Z,1750884276.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145741 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:37.136Z,1750884277.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:37.139Z,1750884277.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 288.100464 m,
      bearing: 240.355996 deg,
      approach rate: -0.677625 m/s,
      LOS rate: 0.012662 deg/s,
      cmd heading: 237.533434 deg,
      new cmd heading: 237.547659 deg.

2025-06-25T20:44:37.139Z,1750884277.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145989 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:37.567Z,1750884277.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:37.569Z,1750884277.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:37.572Z,1750884277.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 287.806549 m,
      bearing: 240.361650 deg,
      approach rate: -0.678247 m/s,
      LOS rate: 0.013060 deg/s,
      cmd heading: 237.547668 deg,
      new cmd heading: 237.564646 deg.

2025-06-25T20:44:37.573Z,1750884277.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146285 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:37.696Z,1750884277.696 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:37.697Z,1750884277.697 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:37.697Z,1750884277.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:37.949Z,1750884277.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004188
2025-06-25T20:44:37.000Z,1750884278.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:38.003Z,1750884278.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 287.526489 m,
      bearing: 240.366945 deg,
      approach rate: -0.656520 m/s,
      LOS rate: 0.012426 deg/s,
      cmd heading: 237.564634 deg,
      new cmd heading: 237.580536 deg.

2025-06-25T20:44:38.003Z,1750884278.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146563 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:38.201Z,1750884278.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255895
2025-06-25T20:44:38.450Z,1750884278.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:38.456Z,1750884278.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510499
2025-06-25T20:44:38.462Z,1750884278.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 287.254272 m,
      bearing: 240.372030 deg,
      approach rate: -0.607961 m/s,
      LOS rate: 0.011367 deg/s,
      cmd heading: 237.580535 deg,
      new cmd heading: 237.595804 deg.

2025-06-25T20:44:38.463Z,1750884278.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146829 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:38.705Z,1750884278.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759853
2025-06-25T20:44:38.876Z,1750884278.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:38.879Z,1750884278.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 286.912628 m,
      bearing: 240.377077 deg,
      approach rate: -0.789947 m/s,
      LOS rate: 0.011682 deg/s,
      cmd heading: 237.595807 deg,
      new cmd heading: 237.610964 deg.

2025-06-25T20:44:38.880Z,1750884278.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147094 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:38.958Z,1750884278.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012688
2025-06-25T20:44:39.209Z,1750884279.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263829
2025-06-25T20:44:39.266Z,1750884279.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:39.270Z,1750884279.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 286.646332 m,
      bearing: 240.380932 deg,
      approach rate: -0.681851 m/s,
      LOS rate: 0.009881 deg/s,
      cmd heading: 237.610970 deg,
      new cmd heading: 237.622547 deg.

2025-06-25T20:44:39.271Z,1750884279.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147296 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:39.462Z,1750884279.462 [DAT](INFO): DAT read: Rx Time:20:44:40.0839

2025-06-25T20:44:39.463Z,1750884279.463 [DAT](INFO): Rx dataTimestamp_ set to:1750884279.462462
2025-06-25T20:44:39.464Z,1750884279.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518692
2025-06-25T20:44:39.694Z,1750884279.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:39.696Z,1750884279.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.28 m.
2025-06-25T20:44:39.699Z,1750884279.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.278290 m,
      nav range: 286.347321 m,
      bearing: 240.385086 deg,
      approach rate: -0.695490 m/s,
      LOS rate: 0.009673 deg/s,
      cmd heading: 237.622554 deg,
      new cmd heading: 237.635031 deg.

2025-06-25T20:44:39.700Z,1750884279.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147514 target range: 294.278290 and range: 297.10 m.
2025-06-25T20:44:39.725Z,1750884279.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779972
2025-06-25T20:44:39.983Z,1750884279.983 [DAT](INFO): DAT read: 20:44:40.0839 LVL= 29344, 31697, 26738, 32755, AGC= 68, IDX= 401,-0.15,-2.485, 2.495,-2.643,-3.014, PHS= 0.618,-0.727, 0.369, RAW= 140.0,  -4.2, CAL= 145.4, -13.7, ROT=   4.6,  13.7

2025-06-25T20:44:39.984Z,1750884279.984 [DAT](INFO): got valid direction response:
 20:44:40.0839 LVL= 29344, 31697, 26738, 32755, AGC= 68, IDX= 401,-0.15,-2.485, 2.495,-2.643,-3.014, PHS= 0.618,-0.727, 0.369, RAW= 140.0,  -4.2, CAL= 145.4, -13.7, ROT=   4.6,  13.7

2025-06-25T20:44:39.985Z,1750884279.985 [DAT](INFO): DAT read: Bearing   4.6,  13.7 (Local)

2025-06-25T20:44:39.985Z,1750884279.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  13.7 (Local)

2025-06-25T20:44:39.987Z,1750884279.987 [DAT](INFO): DAT read: Range 10 to 50 : 294.4 m  (Round-trip  392.6 ms) speed  0.8 m/s

2025-06-25T20:44:39.987Z,1750884279.987 [DAT](INFO): DAT read: user:635>

2025-06-25T20:44:39.988Z,1750884279.988 [DAT](INFO): DAT read: Tx time:20:44:41.1872

2025-06-25T20:44:39.989Z,1750884279.989 [DAT](INFO): Ping request sent.
2025-06-25T20:44:39.989Z,1750884279.989 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:39.989Z,1750884279.989 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:39.990Z,1750884279.990 [DAT](INFO): direction in FSK: [0.968420,0.077917,-0.236838]
2025-06-25T20:44:39.990Z,1750884279.990 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:39.990Z,1750884279.990 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:40.002Z,1750884280.002 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:40.003Z,1750884280.003 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:40.108Z,1750884280.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 294.399994 m,
      deltaT: 4.043866 s,
      deltaX: -2.700012 m,
      approachRate: -0.667681 m/s,
      rangeRepo size: 4

2025-06-25T20:44:40.110Z,1750884280.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 291.604584 m,
      bearing: 243.419986 deg,
      lat: 36.906343 deg,
      lon: -122.116372 deg,
      deltaT: 4.043866 s,
      deltaX: -2.673706 m,
      approachRate: -0.661176 m/s,
      posRepo size: 4

2025-06-25T20:44:40.111Z,1750884280.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:40.122Z,1750884280.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 286.085663 m,
      bearing: 240.388635 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009673 deg/s,
      cmd heading: 237.635040 deg,
      new cmd heading: 237.646614 deg.

2025-06-25T20:44:40.123Z,1750884280.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147716 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:40.230Z,1750884280.230 [DAT](INFO): DAT read: TxSync time:20:44:41.1864

2025-06-25T20:44:40.539Z,1750884280.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:40.541Z,1750884280.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 285.759308 m,
      bearing: 240.392025 deg,
      approach rate: -0.736155 m/s,
      LOS rate: 0.007656 deg/s,
      cmd heading: 237.646624 deg,
      new cmd heading: 237.656807 deg.

2025-06-25T20:44:40.542Z,1750884280.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147894 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:40.873Z,1750884280.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:40.876Z,1750884280.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 285.524017 m,
      bearing: 240.394470 deg,
      approach rate: -0.703220 m/s,
      LOS rate: 0.007313 deg/s,
      cmd heading: 237.656815 deg,
      new cmd heading: 237.664156 deg.

2025-06-25T20:44:40.877Z,1750884280.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148022 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:41.289Z,1750884281.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:41.291Z,1750884281.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 285.243256 m,
      bearing: 240.397335 deg,
      approach rate: -0.675904 m/s,
      LOS rate: 0.006905 deg/s,
      cmd heading: 237.664164 deg,
      new cmd heading: 237.672768 deg.

2025-06-25T20:44:41.296Z,1750884281.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148172 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:41.702Z,1750884281.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:41.720Z,1750884281.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:41.723Z,1750884281.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 284.941803 m,
      bearing: 240.401541 deg,
      approach rate: -0.697885 m/s,
      LOS rate: 0.009748 deg/s,
      cmd heading: 237.672770 deg,
      new cmd heading: 237.685402 deg.

2025-06-25T20:44:41.728Z,1750884281.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148393 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:41.741Z,1750884281.741 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:41.741Z,1750884281.741 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:41.741Z,1750884281.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:41.993Z,1750884281.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004157
2025-06-25T20:44:42.096Z,1750884282.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:42.099Z,1750884282.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 284.678833 m,
      bearing: 240.405231 deg,
      approach rate: -0.707656 m/s,
      LOS rate: 0.009937 deg/s,
      cmd heading: 237.685392 deg,
      new cmd heading: 237.696471 deg.

2025-06-25T20:44:42.104Z,1750884282.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148586 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:42.245Z,1750884282.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256038
2025-06-25T20:44:42.499Z,1750884282.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510202
2025-06-25T20:44:42.563Z,1750884282.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:42.566Z,1750884282.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 284.339447 m,
      bearing: 240.410015 deg,
      approach rate: -0.720731 m/s,
      LOS rate: 0.010173 deg/s,
      cmd heading: 237.696457 deg,
      new cmd heading: 237.710828 deg.

2025-06-25T20:44:42.567Z,1750884282.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148837 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:42.749Z,1750884282.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760132
2025-06-25T20:44:42.905Z,1750884282.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:42.908Z,1750884282.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 284.098724 m,
      bearing: 240.413457 deg,
      approach rate: -0.702947 m/s,
      LOS rate: 0.010058 deg/s,
      cmd heading: 237.710828 deg,
      new cmd heading: 237.721161 deg.

2025-06-25T20:44:42.909Z,1750884282.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149017 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:43.002Z,1750884283.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012853
2025-06-25T20:44:43.253Z,1750884283.253 [DAT](INFO): DAT read: Rx Time:20:44:43.9804

2025-06-25T20:44:43.253Z,1750884283.253 [DAT](INFO): Rx dataTimestamp_ set to:1750884283.253009
2025-06-25T20:44:43.254Z,1750884283.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265162
2025-06-25T20:44:43.307Z,1750884283.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.60 m.
2025-06-25T20:44:43.310Z,1750884283.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.604584 m,
      nav range: 283.817078 m,
      bearing: 240.417521 deg,
      approach rate: -0.701595 m/s,
      LOS rate: 0.010135 deg/s,
      cmd heading: 237.721155 deg,
      new cmd heading: 237.733361 deg.

2025-06-25T20:44:43.311Z,1750884283.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149230 target range: 291.604584 and range: 294.40 m.
2025-06-25T20:44:43.507Z,1750884283.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518380
2025-06-25T20:44:43.763Z,1750884283.763 [DAT](INFO): DAT read: 20:44:43.9804 LVL= 28448, 32145, 28610, 32755, AGC= 67, IDX= 413, 0.21, 0.602,-0.790, 0.470, 0.055, PHS= 0.635,-0.798, 0.412, RAW= 141.7,  -3.8, CAL= 147.0, -13.0, ROT=   3.0,  13.0

2025-06-25T20:44:43.764Z,1750884283.764 [DAT](INFO): got valid direction response:
 20:44:43.9804 LVL= 28448, 32145, 28610, 32755, AGC= 67, IDX= 413, 0.21, 0.602,-0.790, 0.470, 0.055, PHS= 0.635,-0.798, 0.412, RAW= 141.7,  -3.8, CAL= 147.0, -13.0, ROT=   3.0,  13.0

2025-06-25T20:44:43.765Z,1750884283.765 [DAT](INFO): DAT read: Bearing   3.0,  13.0 (Local)

2025-06-25T20:44:43.765Z,1750884283.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  13.0 (Local)

2025-06-25T20:44:43.767Z,1750884283.767 [DAT](INFO): DAT read: Range 10 to 50 : 291.8 m  (Round-trip  389.1 ms) speed  0.0 m/s

2025-06-25T20:44:43.767Z,1750884283.767 [DAT](INFO): DAT read: user:636>

2025-06-25T20:44:43.768Z,1750884283.768 [DAT](INFO): DAT read: Tx time:20:44:45.0872

2025-06-25T20:44:43.769Z,1750884283.769 [DAT](INFO): Ping request sent.
2025-06-25T20:44:43.770Z,1750884283.770 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:43.771Z,1750884283.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:43.775Z,1750884283.775 [DAT](INFO): direction in FSK: [0.973035,0.050995,-0.224951]
2025-06-25T20:44:43.775Z,1750884283.775 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:43.775Z,1750884283.775 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:43.778Z,1750884283.778 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:43.779Z,1750884283.779 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:43.813Z,1750884283.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 291.799988 m,
      deltaT: 3.779962 s,
      deltaX: -2.600006 m,
      approachRate: -0.687839 m/s,
      rangeRepo size: 4

2025-06-25T20:44:43.815Z,1750884283.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 289.029907 m,
      bearing: 241.612309 deg,
      lat: 36.906363 deg,
      lon: -122.116406 deg,
      deltaT: 3.779962 s,
      deltaX: -2.574677 m,
      approachRate: -0.681138 m/s,
      posRepo size: 4

2025-06-25T20:44:43.815Z,1750884283.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:43.826Z,1750884283.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 285.036591 m,
      bearing: 241.107848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010135 deg/s,
      cmd heading: 237.733367 deg,
      new cmd heading: 237.748604 deg.

2025-06-25T20:44:43.827Z,1750884283.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149496 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:44.009Z,1750884284.009 [DAT](INFO): DAT read: TxSync time:20:44:45.0864

2025-06-25T20:44:44.156Z,1750884284.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:44.158Z,1750884284.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:44.173Z,1750884284.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 284.773041 m,
      bearing: 241.112770 deg,
      approach rate: -0.752013 m/s,
      LOS rate: 0.014059 deg/s,
      cmd heading: 237.748612 deg,
      new cmd heading: 237.763394 deg.

2025-06-25T20:44:44.174Z,1750884284.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149754 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:44.261Z,1750884284.261 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:44.261Z,1750884284.261 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:44.261Z,1750884284.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:44.515Z,1750884284.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745273
2025-06-25T20:44:44.603Z,1750884284.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:44.606Z,1750884284.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 284.460632 m,
      bearing: 241.118953 deg,
      approach rate: -0.703339 m/s,
      LOS rate: 0.013935 deg/s,
      cmd heading: 237.763393 deg,
      new cmd heading: 237.781962 deg.

2025-06-25T20:44:44.606Z,1750884284.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150078 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:44.765Z,1750884284.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995499
2025-06-25T20:44:44.920Z,1750884284.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:44.923Z,1750884284.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 284.244629 m,
      bearing: 241.123300 deg,
      approach rate: -0.679938 m/s,
      LOS rate: 0.013694 deg/s,
      cmd heading: 237.781971 deg,
      new cmd heading: 237.795022 deg.

2025-06-25T20:44:44.925Z,1750884284.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150306 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:45.017Z,1750884285.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247758
2025-06-25T20:44:45.270Z,1750884285.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500598
2025-06-25T20:44:45.338Z,1750884285.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:45.342Z,1750884285.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 283.960663 m,
      bearing: 241.129105 deg,
      approach rate: -0.679085 m/s,
      LOS rate: 0.013897 deg/s,
      cmd heading: 237.795030 deg,
      new cmd heading: 237.812464 deg.

2025-06-25T20:44:45.343Z,1750884285.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150610 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:45.524Z,1750884285.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754285
2025-06-25T20:44:45.773Z,1750884285.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003738
2025-06-25T20:44:45.787Z,1750884285.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:45.794Z,1750884285.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 283.662689 m,
      bearing: 241.135385 deg,
      approach rate: -0.663878 m/s,
      LOS rate: 0.014005 deg/s,
      cmd heading: 237.812461 deg,
      new cmd heading: 237.831318 deg.

2025-06-25T20:44:45.795Z,1750884285.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150939 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:46.025Z,1750884286.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256002
2025-06-25T20:44:46.131Z,1750884286.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:46.151Z,1750884286.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 283.424622 m,
      bearing: 241.140343 deg,
      approach rate: -0.691902 m/s,
      LOS rate: 0.014423 deg/s,
      cmd heading: 237.831312 deg,
      new cmd heading: 237.846200 deg.

2025-06-25T20:44:46.156Z,1750884286.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151199 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:46.277Z,1750884286.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507677
2025-06-25T20:44:46.532Z,1750884286.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761791
2025-06-25T20:44:46.626Z,1750884286.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:46.641Z,1750884286.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:46.657Z,1750884286.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 283.095306 m,
      bearing: 241.145760 deg,
      approach rate: -0.663117 m/s,
      LOS rate: 0.010920 deg/s,
      cmd heading: 237.846202 deg,
      new cmd heading: 237.862471 deg.

2025-06-25T20:44:46.658Z,1750884286.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151483 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:46.781Z,1750884286.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011665
2025-06-25T20:44:46.970Z,1750884286.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:46.974Z,1750884286.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 282.868042 m,
      bearing: 241.149505 deg,
      approach rate: -0.664131 m/s,
      LOS rate: 0.010954 deg/s,
      cmd heading: 237.862458 deg,
      new cmd heading: 237.873703 deg.

2025-06-25T20:44:46.975Z,1750884286.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151680 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:47.033Z,1750884287.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264059
2025-06-25T20:44:47.285Z,1750884287.285 [DAT](INFO): DAT read: Rx Time:20:44:47.9127

2025-06-25T20:44:47.285Z,1750884287.285 [DAT](INFO): Rx dataTimestamp_ set to:1750884287.285019
2025-06-25T20:44:47.286Z,1750884287.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516657
2025-06-25T20:44:47.379Z,1750884287.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:47.382Z,1750884287.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 282.596497 m,
      bearing: 241.153830 deg,
      approach rate: -0.663784 m/s,
      LOS rate: 0.010581 deg/s,
      cmd heading: 237.873714 deg,
      new cmd heading: 237.886700 deg.

2025-06-25T20:44:47.383Z,1750884287.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151906 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:47.545Z,1750884287.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775233
2025-06-25T20:44:47.790Z,1750884287.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:47.799Z,1750884287.799 [DAT](INFO): DAT read: 20:44:47.9127 LVL= 25680, 23601, 25282, 32755, AGC= 70, IDX= 264,-0.37, 1.843, 0.464, 1.967, 1.216, PHS= 0.715,-0.705, 0.748, RAW= 151.1, -10.6, CAL= 157.6, -18.3, ROT= 352.4,  18.3

2025-06-25T20:44:47.800Z,1750884287.800 [DAT](INFO): got valid direction response:
 20:44:47.9127 LVL= 25680, 23601, 25282, 32755, AGC= 70, IDX= 264,-0.37, 1.843, 0.464, 1.967, 1.216, PHS= 0.715,-0.705, 0.748, RAW= 151.1, -10.6, CAL= 157.6, -18.3, ROT= 352.4,  18.3

2025-06-25T20:44:47.801Z,1750884287.801 [DAT](INFO): DAT read: Bearing 352.4,  18.3 (Local)

2025-06-25T20:44:47.801Z,1750884287.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  18.3 (Local)

2025-06-25T20:44:47.803Z,1750884287.803 [DAT](INFO): DAT read: Range 10 to 50 : 316.0 m  (Round-trip  421.4 ms) speed  0.4 m/s

2025-06-25T20:44:47.805Z,1750884287.805 [DAT](INFO): DAT read: user:637>

2025-06-25T20:44:47.805Z,1750884287.805 [DAT](INFO): DAT read: Tx time:20:44:49.0372

2025-06-25T20:44:47.806Z,1750884287.806 [DAT](INFO): Ping request sent.
2025-06-25T20:44:47.806Z,1750884287.806 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:47.806Z,1750884287.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:47.807Z,1750884287.807 [DAT](INFO): direction in FSK: [0.941085,-0.125568,-0.313992]
2025-06-25T20:44:47.807Z,1750884287.807 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:47.808Z,1750884287.808 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:47.810Z,1750884287.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 282.320496 m,
      bearing: 241.158728 deg,
      approach rate: -0.671245 m/s,
      LOS rate: 0.011924 deg/s,
      cmd heading: 237.886692 deg,
      new cmd heading: 237.901400 deg.

2025-06-25T20:44:47.811Z,1750884287.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152163 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:47.823Z,1750884287.823 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:47.823Z,1750884287.823 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:48.047Z,1750884288.047 [DAT](INFO): DAT read: TxSync time:20:44:49.0364

2025-06-25T20:44:48.168Z,1750884288.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 316.000000 m,
 deltaT: 4.036183 s,
 deltaX: 24.200012 m,
 approachRate: 5.995767 m/s,
 rangeRepo size: 4
2025-06-25T20:44:48.169Z,1750884288.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:48.171Z,1750884288.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 282.070160 m,
      bearing: 241.163181 deg,
      approach rate: -0.664029 m/s,
      LOS rate: 0.011822 deg/s,
      cmd heading: 237.901390 deg,
      new cmd heading: 237.914760 deg.

2025-06-25T20:44:48.173Z,1750884288.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152396 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:48.632Z,1750884288.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:48.638Z,1750884288.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:48.643Z,1750884288.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 281.768646 m,
      bearing: 241.168584 deg,
      approach rate: -0.640913 m/s,
      LOS rate: 0.011497 deg/s,
      cmd heading: 237.914750 deg,
      new cmd heading: 237.930977 deg.

2025-06-25T20:44:48.645Z,1750884288.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152679 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:48.801Z,1750884288.801 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:48.801Z,1750884288.801 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:48.801Z,1750884288.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:49.007Z,1750884289.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:49.013Z,1750884289.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 281.518036 m,
      bearing: 241.172416 deg,
      approach rate: -0.679693 m/s,
      LOS rate: 0.010403 deg/s,
      cmd heading: 237.930978 deg,
      new cmd heading: 237.942486 deg.

2025-06-25T20:44:49.014Z,1750884289.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152880 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:49.053Z,1750884289.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247155
2025-06-25T20:44:49.305Z,1750884289.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498964
2025-06-25T20:44:49.375Z,1750884289.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:49.378Z,1750884289.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 281.257751 m,
      bearing: 241.176374 deg,
      approach rate: -0.706803 m/s,
      LOS rate: 0.010759 deg/s,
      cmd heading: 237.942480 deg,
      new cmd heading: 237.954367 deg.

2025-06-25T20:44:49.379Z,1750884289.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153087 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:49.560Z,1750884289.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753365
2025-06-25T20:44:49.809Z,1750884289.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002981
2025-06-25T20:44:49.823Z,1750884289.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:49.826Z,1750884289.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 280.960968 m,
      bearing: 241.180050 deg,
      approach rate: -0.662429 m/s,
      LOS rate: 0.008213 deg/s,
      cmd heading: 237.954365 deg,
      new cmd heading: 237.965404 deg.

2025-06-25T20:44:49.827Z,1750884289.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153280 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:50.061Z,1750884290.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254936
2025-06-25T20:44:50.195Z,1750884290.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:50.198Z,1750884290.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 280.727417 m,
      bearing: 241.182890 deg,
      approach rate: -0.661959 m/s,
      LOS rate: 0.008055 deg/s,
      cmd heading: 237.965403 deg,
      new cmd heading: 237.973929 deg.

2025-06-25T20:44:50.199Z,1750884290.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153429 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:50.313Z,1750884290.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507448
2025-06-25T20:44:50.565Z,1750884290.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758816
2025-06-25T20:44:50.656Z,1750884290.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:50.659Z,1750884290.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:50.672Z,1750884290.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 280.428497 m,
      bearing: 241.186469 deg,
      approach rate: -0.618382 m/s,
      LOS rate: 0.007412 deg/s,
      cmd heading: 237.973927 deg,
      new cmd heading: 237.984675 deg.

2025-06-25T20:44:50.673Z,1750884290.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153616 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:50.817Z,1750884290.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010921
2025-06-25T20:44:51.009Z,1750884291.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:51.028Z,1750884291.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 280.174988 m,
      bearing: 241.188346 deg,
      approach rate: -0.723732 m/s,
      LOS rate: 0.005365 deg/s,
      cmd heading: 237.984664 deg,
      new cmd heading: 237.990302 deg.

2025-06-25T20:44:51.029Z,1750884291.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153714 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:51.069Z,1750884291.069 [DAT](INFO): DAT read: Rx Time:20:44:51.8587

2025-06-25T20:44:51.070Z,1750884291.070 [DAT](INFO): Rx dataTimestamp_ set to:1750884291.069234
2025-06-25T20:44:51.071Z,1750884291.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264592
2025-06-25T20:44:51.321Z,1750884291.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514914
2025-06-25T20:44:51.396Z,1750884291.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:51.399Z,1750884291.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 279.913086 m,
      bearing: 241.190254 deg,
      approach rate: -0.677393 m/s,
      LOS rate: 0.004939 deg/s,
      cmd heading: 237.990292 deg,
      new cmd heading: 237.996021 deg.

2025-06-25T20:44:51.400Z,1750884291.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153814 target range: 289.029907 and range: 291.80 m.
2025-06-25T20:44:51.579Z,1750884291.579 [DAT](INFO): DAT read: Range 10 to 50 : 313.0 m  (Round-trip  417.4 ms) speed  0.4 m/s

2025-06-25T20:44:51.581Z,1750884291.581 [DAT](INFO): DAT read: user:638>

2025-06-25T20:44:51.585Z,1750884291.585 [DAT](INFO): DAT read: Tx time:20:44:52.9372

2025-06-25T20:44:51.586Z,1750884291.586 [DAT](INFO): Ping request sent.
2025-06-25T20:44:51.586Z,1750884291.586 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:51.587Z,1750884291.587 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:44:51.587Z,1750884291.587 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:51.599Z,1750884291.599 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:51.825Z,1750884291.825 [DAT](INFO): DAT read: TxSync time:20:44:52.9364

2025-06-25T20:44:51.853Z,1750884291.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.000000 m,
      deltaT: 7.818278 s,
      deltaX: 21.200012 m,
      approachRate: 2.711596 m/s,
      rangeRepo size: 4

2025-06-25T20:44:51.854Z,1750884291.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:51.861Z,1750884291.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 279.612579 m,
      bearing: 241.193796 deg,
      approach rate: -0.657990 m/s,
      LOS rate: 0.007764 deg/s,
      cmd heading: 237.996029 deg,
      new cmd heading: 238.006667 deg.

2025-06-25T20:44:51.862Z,1750884291.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154000 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:52.197Z,1750884292.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:52.199Z,1750884292.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 279.371368 m,
      bearing: 241.196703 deg,
      approach rate: -0.701488 m/s,
      LOS rate: 0.008461 deg/s,
      cmd heading: 238.006657 deg,
      new cmd heading: 238.015385 deg.

2025-06-25T20:44:52.200Z,1750884292.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154152 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:52.633Z,1750884292.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:52.668Z,1750884292.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 279.091919 m,
      bearing: 241.200074 deg,
      approach rate: -0.643684 m/s,
      LOS rate: 0.007772 deg/s,
      cmd heading: 238.015372 deg,
      new cmd heading: 238.025495 deg.

2025-06-25T20:44:52.676Z,1750884292.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154329 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:53.034Z,1750884293.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:53.036Z,1750884293.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:53.039Z,1750884293.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 278.805054 m,
      bearing: 241.204222 deg,
      approach rate: -0.707117 m/s,
      LOS rate: 0.010235 deg/s,
      cmd heading: 238.025508 deg,
      new cmd heading: 238.037964 deg.

2025-06-25T20:44:53.040Z,1750884293.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154546 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:53.085Z,1750884293.085 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:53.085Z,1750884293.085 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:53.086Z,1750884293.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:53.337Z,1750884293.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751121
2025-06-25T20:44:53.413Z,1750884293.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:53.415Z,1750884293.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 278.551544 m,
      bearing: 241.207897 deg,
      approach rate: -0.673489 m/s,
      LOS rate: 0.009774 deg/s,
      cmd heading: 238.037967 deg,
      new cmd heading: 238.049004 deg.

2025-06-25T20:44:53.417Z,1750884293.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154739 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:53.590Z,1750884293.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003966
2025-06-25T20:44:53.841Z,1750884293.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255182
2025-06-25T20:44:53.855Z,1750884293.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:53.858Z,1750884293.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 278.245758 m,
      bearing: 241.211768 deg,
      approach rate: -0.691836 m/s,
      LOS rate: 0.008767 deg/s,
      cmd heading: 238.049004 deg,
      new cmd heading: 238.060628 deg.

2025-06-25T20:44:53.859Z,1750884293.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154942 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:54.093Z,1750884294.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507054
2025-06-25T20:44:54.231Z,1750884294.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:54.234Z,1750884294.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 277.992493 m,
      bearing: 241.215022 deg,
      approach rate: -0.672428 m/s,
      LOS rate: 0.008648 deg/s,
      cmd heading: 238.060615 deg,
      new cmd heading: 238.070387 deg.

2025-06-25T20:44:54.235Z,1750884294.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155112 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:54.345Z,1750884294.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759193
2025-06-25T20:44:54.353Z,1750884294.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:44:54.597Z,1750884294.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010955
2025-06-25T20:44:54.674Z,1750884294.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:54.696Z,1750884294.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 277.704224 m,
      bearing: 241.218748 deg,
      approach rate: -0.652641 m/s,
      LOS rate: 0.008443 deg/s,
      cmd heading: 238.070396 deg,
      new cmd heading: 238.081585 deg.

2025-06-25T20:44:54.699Z,1750884294.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155308 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:54.849Z,1750884294.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263106
2025-06-25T20:44:55.050Z,1750884295.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:55.052Z,1750884295.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:55.055Z,1750884295.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 277.412811 m,
      bearing: 241.223319 deg,
      approach rate: -0.769221 m/s,
      LOS rate: 0.012079 deg/s,
      cmd heading: 238.081598 deg,
      new cmd heading: 238.095326 deg.

2025-06-25T20:44:55.056Z,1750884295.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155547 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:55.101Z,1750884295.101 [DAT](INFO): DAT read: Rx Time:20:44:55.7560

2025-06-25T20:44:55.101Z,1750884295.101 [DAT](INFO): Rx dataTimestamp_ set to:1750884295.101177
2025-06-25T20:44:55.102Z,1750884295.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516303
2025-06-25T20:44:55.353Z,1750884295.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767211
2025-06-25T20:44:55.356Z,1750884295.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:44:55.455Z,1750884295.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:55.458Z,1750884295.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 277.129669 m,
      bearing: 241.227844 deg,
      approach rate: -0.702013 m/s,
      LOS rate: 0.011230 deg/s,
      cmd heading: 238.095313 deg,
      new cmd heading: 238.108901 deg.

2025-06-25T20:44:55.476Z,1750884295.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155784 target range: 289.029907 and range: 313.00 m.
2025-06-25T20:44:55.606Z,1750884295.606 [DAT](INFO): DAT read: Range 10 to 50 : 310.9 m  (Round-trip  414.6 ms) speed  0.4 m/s

2025-06-25T20:44:55.607Z,1750884295.607 [DAT](INFO): DAT read: user:639>

2025-06-25T20:44:55.607Z,1750884295.607 [DAT](INFO): DAT read: Tx time:20:44:56.8373

2025-06-25T20:44:55.608Z,1750884295.608 [DAT](INFO): Ping request sent.
2025-06-25T20:44:55.608Z,1750884295.608 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:55.608Z,1750884295.608 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:44:55.608Z,1750884295.608 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:55.609Z,1750884295.609 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:55.857Z,1750884295.857 [DAT](INFO): DAT read: TxSync time:20:44:56.8365

2025-06-25T20:44:55.863Z,1750884295.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 310.899994 m,
      deltaT: 4.029859 s,
      deltaX: -2.100006 m,
      approachRate: -0.521112 m/s,
      rangeRepo size: 4

2025-06-25T20:44:55.880Z,1750884295.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:55.883Z,1750884295.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 276.841034 m,
      bearing: 241.233625 deg,
      approach rate: -0.708479 m/s,
      LOS rate: 0.014206 deg/s,
      cmd heading: 238.108891 deg,
      new cmd heading: 238.126254 deg.

2025-06-25T20:44:55.888Z,1750884295.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156087 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:56.236Z,1750884296.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:56.239Z,1750884296.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 276.573853 m,
      bearing: 241.239094 deg,
      approach rate: -0.716054 m/s,
      LOS rate: 0.014670 deg/s,
      cmd heading: 238.126267 deg,
      new cmd heading: 238.142688 deg.

2025-06-25T20:44:56.240Z,1750884296.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156374 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:56.710Z,1750884296.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:56.727Z,1750884296.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 276.270721 m,
      bearing: 241.245271 deg,
      approach rate: -0.647848 m/s,
      LOS rate: 0.013217 deg/s,
      cmd heading: 238.142687 deg,
      new cmd heading: 238.161240 deg.

2025-06-25T20:44:56.733Z,1750884296.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156698 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:57.105Z,1750884297.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:57.107Z,1750884297.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:57.114Z,1750884297.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 275.970093 m,
      bearing: 241.251860 deg,
      approach rate: -0.746188 m/s,
      LOS rate: 0.016371 deg/s,
      cmd heading: 238.161238 deg,
      new cmd heading: 238.181025 deg.

2025-06-25T20:44:57.114Z,1750884297.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157043 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:57.117Z,1750884297.117 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:44:57.117Z,1750884297.117 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:44:57.117Z,1750884297.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:44:57.369Z,1750884297.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760776
2025-06-25T20:44:57.485Z,1750884297.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:57.488Z,1750884297.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 275.686737 m,
      bearing: 241.258035 deg,
      approach rate: -0.748223 m/s,
      LOS rate: 0.016321 deg/s,
      cmd heading: 238.181018 deg,
      new cmd heading: 238.199561 deg.

2025-06-25T20:44:57.489Z,1750884297.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157367 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:57.622Z,1750884297.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014107
2025-06-25T20:44:57.873Z,1750884297.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264874
2025-06-25T20:44:57.908Z,1750884297.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:57.911Z,1750884297.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 275.392456 m,
      bearing: 241.264444 deg,
      approach rate: -0.696736 m/s,
      LOS rate: 0.015191 deg/s,
      cmd heading: 238.199569 deg,
      new cmd heading: 238.218817 deg.

2025-06-25T20:44:57.911Z,1750884297.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157703 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:58.125Z,1750884298.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516776
2025-06-25T20:44:58.282Z,1750884298.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:58.284Z,1750884298.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 275.131805 m,
      bearing: 241.270095 deg,
      approach rate: -0.697156 m/s,
      LOS rate: 0.015130 deg/s,
      cmd heading: 238.218830 deg,
      new cmd heading: 238.235801 deg.

2025-06-25T20:44:58.285Z,1750884298.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157999 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:58.379Z,1750884298.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770721
2025-06-25T20:44:58.633Z,1750884298.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025261
2025-06-25T20:44:58.747Z,1750884298.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:58.775Z,1750884298.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 274.840881 m,
      bearing: 241.276384 deg,
      approach rate: -0.627050 m/s,
      LOS rate: 0.013569 deg/s,
      cmd heading: 238.235796 deg,
      new cmd heading: 238.254683 deg.

2025-06-25T20:44:58.782Z,1750884298.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158329 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:58.885Z,1750884298.885 [DAT](INFO): DAT read: Rx Time:20:44:59.6540

2025-06-25T20:44:58.886Z,1750884298.886 [DAT](INFO): Rx dataTimestamp_ set to:1750884298.885278
2025-06-25T20:44:58.886Z,1750884298.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278109
2025-06-25T20:44:59.137Z,1750884299.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529226
2025-06-25T20:44:59.147Z,1750884299.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:44:59.154Z,1750884299.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.03 m.
2025-06-25T20:44:59.161Z,1750884299.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.029907 m,
      nav range: 274.542725 m,
      bearing: 241.282689 deg,
      approach rate: -0.730497 m/s,
      LOS rate: 0.015462 deg/s,
      cmd heading: 238.254675 deg,
      new cmd heading: 238.273608 deg.

2025-06-25T20:44:59.163Z,1750884299.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158659 target range: 289.029907 and range: 310.90 m.
2025-06-25T20:44:59.398Z,1750884299.398 [DAT](INFO): DAT read: 20:44:59.6540 LVL= 24864, 29681, 26322, 32755, AGC= 69, IDX= 402,-0.38,-1.721,-3.116,-1.750,-2.411, PHS= 0.778,-0.658, 0.658, RAW= 145.7, -11.3, CAL= 152.9, -19.9, ROT= 357.1,  19.9

2025-06-25T20:44:59.399Z,1750884299.399 [DAT](INFO): got valid direction response:
 20:44:59.6540 LVL= 24864, 29681, 26322, 32755, AGC= 69, IDX= 402,-0.38,-1.721,-3.116,-1.750,-2.411, PHS= 0.778,-0.658, 0.658, RAW= 145.7, -11.3, CAL= 152.9, -19.9, ROT= 357.1,  19.9

2025-06-25T20:44:59.411Z,1750884299.411 [DAT](INFO): DAT read: Bearing 357.1,  19.9 (Local)

2025-06-25T20:44:59.411Z,1750884299.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  19.9 (Local)

2025-06-25T20:44:59.413Z,1750884299.413 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m  (Round-trip  412.5 ms) speed  0.5 m/s

2025-06-25T20:44:59.414Z,1750884299.414 [DAT](INFO): DAT read: user:640>

2025-06-25T20:44:59.414Z,1750884299.414 [DAT](INFO): DAT read: Tx time:20:45:00.7373

2025-06-25T20:44:59.415Z,1750884299.415 [DAT](INFO): Ping request sent.
2025-06-25T20:44:59.415Z,1750884299.415 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:44:59.415Z,1750884299.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:44:59.436Z,1750884299.436 [DAT](INFO): direction in FSK: [0.939084,-0.047572,-0.340380]
2025-06-25T20:44:59.437Z,1750884299.437 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:59.437Z,1750884299.437 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:59.444Z,1750884299.444 [DAT](INFO): publishing transmit ping time
2025-06-25T20:44:59.445Z,1750884299.445 [DAT](INFO): publishing direction and range info
2025-06-25T20:44:59.550Z,1750884299.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.299988 m,
      deltaT: 3.785473 s,
      deltaX: -1.600006 m,
      approachRate: -0.422670 m/s,
      rangeRepo size: 4

2025-06-25T20:44:59.565Z,1750884299.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.362244 m,
      bearing: 236.837265 deg,
      lat: 36.906300 deg,
      lon: -122.116408 deg,
      deltaT: 15.633610 s,
      deltaX: 17.332336 m,
      approachRate: 1.108659 m/s,
      posRepo size: 4

2025-06-25T20:44:59.565Z,1750884299.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:44:59.572Z,1750884299.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 277.810974 m,
      bearing: 240.037881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015462 deg/s,
      cmd heading: 238.273608 deg,
      new cmd heading: 238.291973 deg.

2025-06-25T20:44:59.573Z,1750884299.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158979 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:44:59.642Z,1750884299.642 [DAT](INFO): DAT read: TxSync time:20:45:00.7365

2025-06-25T20:44:59.965Z,1750884299.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:44:59.972Z,1750884299.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 277.517059 m,
      bearing: 240.042964 deg,
      approach rate: -0.707293 m/s,
      LOS rate: 0.012246 deg/s,
      cmd heading: 238.291968 deg,
      new cmd heading: 238.307234 deg.

2025-06-25T20:44:59.973Z,1750884299.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159246 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:00.316Z,1750884300.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:00.319Z,1750884300.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 277.276520 m,
      bearing: 240.047187 deg,
      approach rate: -0.684964 m/s,
      LOS rate: 0.012037 deg/s,
      cmd heading: 238.307240 deg,
      new cmd heading: 238.319921 deg.

2025-06-25T20:45:00.324Z,1750884300.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159467 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:00.709Z,1750884300.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:00.712Z,1750884300.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 276.996613 m,
      bearing: 240.052111 deg,
      approach rate: -0.712219 m/s,
      LOS rate: 0.012541 deg/s,
      cmd heading: 238.319917 deg,
      new cmd heading: 238.334703 deg.

2025-06-25T20:45:00.713Z,1750884300.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159725 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:01.148Z,1750884301.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:01.150Z,1750884301.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:01.153Z,1750884301.153 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:01.153Z,1750884301.153 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:01.153Z,1750884301.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:01.156Z,1750884301.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 276.694824 m,
      bearing: 240.056829 deg,
      approach rate: -0.684701 m/s,
      LOS rate: 0.010717 deg/s,
      cmd heading: 238.334697 deg,
      new cmd heading: 238.348868 deg.

2025-06-25T20:45:01.157Z,1750884301.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159973 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:01.405Z,1750884301.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990261
2025-06-25T20:45:01.513Z,1750884301.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:01.516Z,1750884301.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 276.443939 m,
      bearing: 240.060672 deg,
      approach rate: -0.690645 m/s,
      LOS rate: 0.010588 deg/s,
      cmd heading: 238.348877 deg,
      new cmd heading: 238.360416 deg.

2025-06-25T20:45:01.517Z,1750884301.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160174 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:01.657Z,1750884301.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242402
2025-06-25T20:45:01.909Z,1750884301.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493934
2025-06-25T20:45:01.960Z,1750884301.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:01.963Z,1750884301.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 276.148010 m,
      bearing: 240.062927 deg,
      approach rate: -0.668932 m/s,
      LOS rate: 0.005102 deg/s,
      cmd heading: 238.360406 deg,
      new cmd heading: 238.367177 deg.

2025-06-25T20:45:01.968Z,1750884301.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160292 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:02.161Z,1750884302.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746078
2025-06-25T20:45:02.333Z,1750884302.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:02.336Z,1750884302.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 275.886444 m,
      bearing: 240.064831 deg,
      approach rate: -0.693142 m/s,
      LOS rate: 0.005050 deg/s,
      cmd heading: 238.367182 deg,
      new cmd heading: 238.372899 deg.

2025-06-25T20:45:02.337Z,1750884302.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160392 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:02.413Z,1750884302.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998082
2025-06-25T20:45:02.666Z,1750884302.666 [DAT](INFO): DAT read: Rx Time:20:45:03.5124

2025-06-25T20:45:02.666Z,1750884302.666 [DAT](INFO): Rx dataTimestamp_ set to:1750884302.666109
2025-06-25T20:45:02.667Z,1750884302.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252213
2025-06-25T20:45:02.745Z,1750884302.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:02.747Z,1750884302.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 275.608002 m,
      bearing: 240.066821 deg,
      approach rate: -0.676616 m/s,
      LOS rate: 0.004841 deg/s,
      cmd heading: 238.372892 deg,
      new cmd heading: 238.378868 deg.

2025-06-25T20:45:02.748Z,1750884302.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160496 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:02.917Z,1750884302.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502007
2025-06-25T20:45:03.169Z,1750884303.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754177
2025-06-25T20:45:03.175Z,1750884303.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:03.182Z,1750884303.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:03.191Z,1750884303.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 275.314819 m,
      bearing: 240.068295 deg,
      approach rate: -0.670783 m/s,
      LOS rate: 0.003377 deg/s,
      cmd heading: 238.378875 deg,
      new cmd heading: 238.383302 deg.

2025-06-25T20:45:03.199Z,1750884303.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160573 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:03.427Z,1750884303.427 [DAT](INFO): DAT read: 20:45:03.5124 LVL= 23392, 29121, 21410, 32755, AGC= 71, IDX= 208, 0.26,-2.936, 1.883,-2.805, 2.725, PHS= 0.710,-0.795, 0.751, RAW= 151.3,  -8.8, CAL= 157.2, -16.7, ROT= 352.8,  16.7

2025-06-25T20:45:03.428Z,1750884303.428 [DAT](INFO): got valid direction response:
 20:45:03.5124 LVL= 23392, 29121, 21410, 32755, AGC= 71, IDX= 208, 0.26,-2.936, 1.883,-2.805, 2.725, PHS= 0.710,-0.795, 0.751, RAW= 151.3,  -8.8, CAL= 157.2, -16.7, ROT= 352.8,  16.7

2025-06-25T20:45:03.429Z,1750884303.429 [DAT](INFO): DAT read: Bearing 352.8,  16.7 (Local)

2025-06-25T20:45:03.429Z,1750884303.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,  16.7 (Local)

2025-06-25T20:45:03.431Z,1750884303.431 [DAT](INFO): DAT read: Range 10 to 50 : 278.1 m  (Round-trip  370.9 ms) speed  0.2 m/s

2025-06-25T20:45:03.431Z,1750884303.431 [DAT](INFO): DAT read: user:641>

2025-06-25T20:45:03.432Z,1750884303.432 [DAT](INFO): DAT read: Tx time:20:45:04.6373

2025-06-25T20:45:03.433Z,1750884303.433 [DAT](INFO): Ping request sent.
2025-06-25T20:45:03.433Z,1750884303.433 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:03.433Z,1750884303.433 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:03.434Z,1750884303.434 [DAT](INFO): direction in FSK: [0.950270,-0.120047,-0.287361]
2025-06-25T20:45:03.434Z,1750884303.434 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:03.435Z,1750884303.435 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:03.438Z,1750884303.438 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:03.438Z,1750884303.438 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:03.641Z,1750884303.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 278.100006 m,
 deltaT: 4.030398 s,
 deltaX: -31.199982 m,
 approachRate: -7.741167 m/s,
 rangeRepo size: 4
2025-06-25T20:45:03.642Z,1750884303.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:03.650Z,1750884303.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 275.020447 m,
      bearing: 240.069750 deg,
      approach rate: -0.648519 m/s,
      LOS rate: 0.003209 deg/s,
      cmd heading: 238.383301 deg,
      new cmd heading: 238.387671 deg.

2025-06-25T20:45:03.661Z,1750884303.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160650 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:03.673Z,1750884303.673 [DAT](INFO): DAT read: TxSync time:20:45:04.6365

2025-06-25T20:45:03.981Z,1750884303.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:03.984Z,1750884303.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 274.766907 m,
      bearing: 240.070906 deg,
      approach rate: -0.733948 m/s,
      LOS rate: 0.003349 deg/s,
      cmd heading: 238.387672 deg,
      new cmd heading: 238.391143 deg.

2025-06-25T20:45:03.985Z,1750884303.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160710 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:04.355Z,1750884304.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:04.357Z,1750884304.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 274.512878 m,
      bearing: 240.072035 deg,
      approach rate: -0.680113 m/s,
      LOS rate: 0.003025 deg/s,
      cmd heading: 238.391142 deg,
      new cmd heading: 238.394532 deg.

2025-06-25T20:45:04.358Z,1750884304.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160769 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:04.758Z,1750884304.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:04.761Z,1750884304.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 274.238586 m,
      bearing: 240.073295 deg,
      approach rate: -0.679873 m/s,
      LOS rate: 0.003126 deg/s,
      cmd heading: 238.394530 deg,
      new cmd heading: 238.398313 deg.

2025-06-25T20:45:04.762Z,1750884304.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160835 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:05.201Z,1750884305.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:05.203Z,1750884305.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:05.210Z,1750884305.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 273.952759 m,
      bearing: 240.075395 deg,
      approach rate: -0.641764 m/s,
      LOS rate: 0.004721 deg/s,
      cmd heading: 238.398300 deg,
      new cmd heading: 238.404608 deg.

2025-06-25T20:45:05.211Z,1750884305.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160945 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:05.437Z,1750884305.437 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:05.437Z,1750884305.437 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:05.437Z,1750884305.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:05.585Z,1750884305.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:05.588Z,1750884305.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 273.678436 m,
      bearing: 240.077399 deg,
      approach rate: -0.718204 m/s,
      LOS rate: 0.005252 deg/s,
      cmd heading: 238.404611 deg,
      new cmd heading: 238.410629 deg.

2025-06-25T20:45:05.589Z,1750884305.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161050 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:05.689Z,1750884305.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256188
2025-06-25T20:45:05.941Z,1750884305.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508096
2025-06-25T20:45:06.012Z,1750884306.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:06.015Z,1750884306.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 273.383881 m,
      bearing: 240.079467 deg,
      approach rate: -0.690346 m/s,
      LOS rate: 0.004852 deg/s,
      cmd heading: 238.410622 deg,
      new cmd heading: 238.416833 deg.

2025-06-25T20:45:06.016Z,1750884306.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161159 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:06.196Z,1750884306.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762872
2025-06-25T20:45:06.374Z,1750884306.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:06.378Z,1750884306.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 273.135345 m,
      bearing: 240.081241 deg,
      approach rate: -0.685656 m/s,
      LOS rate: 0.004899 deg/s,
      cmd heading: 238.416823 deg,
      new cmd heading: 238.422150 deg.

2025-06-25T20:45:06.379Z,1750884306.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161252 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:06.446Z,1750884306.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013506
2025-06-25T20:45:06.698Z,1750884306.698 [DAT](INFO): DAT read: Rx Time:20:45:07.4292

2025-06-25T20:45:06.699Z,1750884306.699 [DAT](INFO): Rx dataTimestamp_ set to:1750884306.698286
2025-06-25T20:45:06.700Z,1750884306.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267230
2025-06-25T20:45:06.785Z,1750884306.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.36 m.
2025-06-25T20:45:06.787Z,1750884306.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.362244 m,
      nav range: 272.854797 m,
      bearing: 240.083276 deg,
      approach rate: -0.685766 m/s,
      LOS rate: 0.004978 deg/s,
      cmd heading: 238.422151 deg,
      new cmd heading: 238.428261 deg.

2025-06-25T20:45:06.789Z,1750884306.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161358 target range: 306.362244 and range: 309.30 m.
2025-06-25T20:45:06.949Z,1750884306.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516110
2025-06-25T20:45:07.207Z,1750884307.207 [DAT](INFO): DAT read: 20:45:07.4292 LVL= 24048, 27041, 22562, 32755, AGC= 70, IDX=  96, 0.05, 0.590,-0.676, 0.589, 0.155, PHS= 0.523,-0.784, 0.431, RAW= 146.4,  -2.7, CAL= 150.8, -11.7, ROT= 359.2,  11.7

2025-06-25T20:45:07.208Z,1750884307.208 [DAT](INFO): got valid direction response:
 20:45:07.4292 LVL= 24048, 27041, 22562, 32755, AGC= 70, IDX=  96, 0.05, 0.590,-0.676, 0.589, 0.155, PHS= 0.523,-0.784, 0.431, RAW= 146.4,  -2.7, CAL= 150.8, -11.7, ROT= 359.2,  11.7

2025-06-25T20:45:07.209Z,1750884307.209 [DAT](INFO): DAT read: Bearing 359.2,  11.7 (Local)

2025-06-25T20:45:07.209Z,1750884307.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  11.7 (Local)

2025-06-25T20:45:07.211Z,1750884307.211 [DAT](INFO): DAT read: Range 10 to 50 : 290.8 m  (Round-trip  387.8 ms) speed  0.4 m/s

2025-06-25T20:45:07.212Z,1750884307.212 [DAT](INFO): DAT read: user:642>

2025-06-25T20:45:07.212Z,1750884307.212 [DAT](INFO): DAT read: Tx time:20:45:08.5373

2025-06-25T20:45:07.213Z,1750884307.213 [DAT](INFO): Ping request sent.
2025-06-25T20:45:07.213Z,1750884307.213 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:07.213Z,1750884307.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:07.214Z,1750884307.214 [DAT](INFO): direction in FSK: [0.979127,-0.013672,-0.202787]
2025-06-25T20:45:07.214Z,1750884307.214 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:07.215Z,1750884307.215 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:07.219Z,1750884307.219 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:07.219Z,1750884307.219 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:07.314Z,1750884307.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.799988 m,
      deltaT: 7.810481 s,
      deltaX: -18.500000 m,
      approachRate: -2.368612 m/s,
      rangeRepo size: 4

2025-06-25T20:45:07.321Z,1750884307.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.039124 m,
      bearing: 238.569457 deg,
      lat: 36.906133 deg,
      lon: -122.116408 deg,
      deltaT: 7.810481 s,
      deltaX: -18.323120 m,
      approachRate: -2.345966 m/s,
      posRepo size: 4

2025-06-25T20:45:07.322Z,1750884307.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:07.329Z,1750884307.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 282.240143 m,
      bearing: 236.825432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004978 deg/s,
      cmd heading: 238.428271 deg,
      new cmd heading: 238.436184 deg.

2025-06-25T20:45:07.330Z,1750884307.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161497 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:07.456Z,1750884307.456 [DAT](INFO): DAT read: TxSync time:20:45:08.5365

2025-06-25T20:45:07.613Z,1750884307.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:07.615Z,1750884307.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:07.618Z,1750884307.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 281.990692 m,
      bearing: 236.824997 deg,
      approach rate: -0.827794 m/s,
      LOS rate: -0.001442 deg/s,
      cmd heading: 238.436194 deg,
      new cmd heading: 238.434890 deg.

2025-06-25T20:45:07.618Z,1750884307.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161474 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:07.706Z,1750884307.706 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:07.706Z,1750884307.706 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:07.706Z,1750884307.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:07.957Z,1750884307.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743868
2025-06-25T20:45:08.046Z,1750884308.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:08.065Z,1750884308.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 281.695038 m,
      bearing: 236.824913 deg,
      approach rate: -0.685756 m/s,
      LOS rate: -0.000197 deg/s,
      cmd heading: 238.434882 deg,
      new cmd heading: 238.434628 deg.

2025-06-25T20:45:08.066Z,1750884308.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161469 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:08.209Z,1750884308.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995895
2025-06-25T20:45:08.425Z,1750884308.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:08.428Z,1750884308.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 281.435394 m,
      bearing: 236.825003 deg,
      approach rate: -0.684613 m/s,
      LOS rate: 0.000239 deg/s,
      cmd heading: 238.434637 deg,
      new cmd heading: 238.434909 deg.

2025-06-25T20:45:08.429Z,1750884308.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161474 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:08.461Z,1750884308.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248060
2025-06-25T20:45:08.713Z,1750884308.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499822
2025-06-25T20:45:08.843Z,1750884308.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:08.867Z,1750884308.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 281.150116 m,
      bearing: 236.825010 deg,
      approach rate: -0.684689 m/s,
      LOS rate: 0.000015 deg/s,
      cmd heading: 238.434910 deg,
      new cmd heading: 238.434929 deg.

2025-06-25T20:45:08.883Z,1750884308.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161475 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:08.966Z,1750884308.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752668
2025-06-25T20:45:09.217Z,1750884309.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004023
2025-06-25T20:45:09.277Z,1750884309.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:09.284Z,1750884309.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 280.866241 m,
      bearing: 236.825348 deg,
      approach rate: -0.652150 m/s,
      LOS rate: 0.000779 deg/s,
      cmd heading: 238.434937 deg,
      new cmd heading: 238.435954 deg.

2025-06-25T20:45:09.285Z,1750884309.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161492 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:09.469Z,1750884309.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256249
2025-06-25T20:45:09.695Z,1750884309.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:09.699Z,1750884309.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:09.702Z,1750884309.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 280.560394 m,
      bearing: 236.825639 deg,
      approach rate: -0.724257 m/s,
      LOS rate: 0.000690 deg/s,
      cmd heading: 238.435948 deg,
      new cmd heading: 238.436822 deg.

2025-06-25T20:45:09.703Z,1750884309.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161508 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:09.721Z,1750884309.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507966
2025-06-25T20:45:09.973Z,1750884309.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759946
2025-06-25T20:45:10.133Z,1750884310.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:10.135Z,1750884310.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 280.261841 m,
      bearing: 236.827196 deg,
      approach rate: -0.689048 m/s,
      LOS rate: 0.003597 deg/s,
      cmd heading: 238.436822 deg,
      new cmd heading: 238.441498 deg.

2025-06-25T20:45:10.136Z,1750884310.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161589 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:10.226Z,1750884310.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012830
2025-06-25T20:45:10.477Z,1750884310.477 [DAT](INFO): DAT read: Rx Time:20:45:11.3244

2025-06-25T20:45:10.477Z,1750884310.477 [DAT](INFO): Rx dataTimestamp_ set to:1750884310.477013
2025-06-25T20:45:10.478Z,1750884310.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264979
2025-06-25T20:45:10.535Z,1750884310.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:10.538Z,1750884310.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 279.986420 m,
      bearing: 236.828637 deg,
      approach rate: -0.684346 m/s,
      LOS rate: 0.003583 deg/s,
      cmd heading: 238.441494 deg,
      new cmd heading: 238.445820 deg.

2025-06-25T20:45:10.539Z,1750884310.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161664 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:10.729Z,1750884310.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515899
2025-06-25T20:45:10.981Z,1750884310.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767986
2025-06-25T20:45:11.006Z,1750884311.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.04 m.
2025-06-25T20:45:11.029Z,1750884311.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.039124 m,
      nav range: 279.680176 m,
      bearing: 236.830028 deg,
      approach rate: -0.660367 m/s,
      LOS rate: 0.003003 deg/s,
      cmd heading: 238.445811 deg,
      new cmd heading: 238.449988 deg.

2025-06-25T20:45:11.038Z,1750884311.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161737 target range: 288.039124 and range: 290.80 m.
2025-06-25T20:45:11.239Z,1750884311.239 [DAT](INFO): DAT read: 20:45:11.3244 LVL= 31360, 32753, 29362, 32755, AGC= 71, IDX= 397, 0.16,-1.320,-2.685,-1.322,-1.656, PHS= 0.424,-0.982, 0.331, RAW= 146.6,   3.4, CAL= 149.4,  -5.4, ROT=   0.6,   5.4

2025-06-25T20:45:11.240Z,1750884311.240 [DAT](INFO): got valid direction response:
 20:45:11.3244 LVL= 31360, 32753, 29362, 32755, AGC= 71, IDX= 397, 0.16,-1.320,-2.685,-1.322,-1.656, PHS= 0.424,-0.982, 0.331, RAW= 146.6,   3.4, CAL= 149.4,  -5.4, ROT=   0.6,   5.4

2025-06-25T20:45:11.241Z,1750884311.241 [DAT](INFO): DAT read: Bearing   0.6,   5.4 (Local)

2025-06-25T20:45:11.241Z,1750884311.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,   5.4 (Local)

2025-06-25T20:45:11.243Z,1750884311.243 [DAT](INFO): DAT read: Range 10 to 50 : 287.2 m  (Round-trip  383.0 ms) speed  0.6 m/s

2025-06-25T20:45:11.243Z,1750884311.243 [DAT](INFO): DAT read: user:643>

2025-06-25T20:45:11.244Z,1750884311.244 [DAT](INFO): DAT read: Tx time:20:45:12.4373

2025-06-25T20:45:11.244Z,1750884311.244 [DAT](INFO): Ping request sent.
2025-06-25T20:45:11.245Z,1750884311.245 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:11.245Z,1750884311.245 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:11.246Z,1750884311.246 [DAT](INFO): direction in FSK: [0.995507,0.010425,-0.094108]
2025-06-25T20:45:11.246Z,1750884311.246 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:11.246Z,1750884311.246 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:11.257Z,1750884311.257 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:11.258Z,1750884311.258 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:11.422Z,1750884311.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 287.200012 m,
      deltaT: 4.031932 s,
      deltaX: -3.599976 m,
      approachRate: -0.892866 m/s,
      rangeRepo size: 4

2025-06-25T20:45:11.428Z,1750884311.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.472748 m,
      bearing: 239.541121 deg,
      lat: 36.906133 deg,
      lon: -122.116408 deg,
      deltaT: 4.031932 s,
      deltaX: -3.566376 m,
      approachRate: -0.884533 m/s,
      posRepo size: 4

2025-06-25T20:45:11.429Z,1750884311.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:11.436Z,1750884311.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 279.389465 m,
      bearing: 236.831340 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003003 deg/s,
      cmd heading: 238.449991 deg,
      new cmd heading: 238.453798 deg.

2025-06-25T20:45:11.437Z,1750884311.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161804 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:11.486Z,1750884311.486 [DAT](INFO): DAT read: TxSync time:20:45:12.4365

2025-06-25T20:45:11.759Z,1750884311.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:11.761Z,1750884311.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:11.764Z,1750884311.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 279.144440 m,
      bearing: 236.832462 deg,
      approach rate: -0.720950 m/s,
      LOS rate: 0.003304 deg/s,
      cmd heading: 238.453788 deg,
      new cmd heading: 238.457157 deg.

2025-06-25T20:45:11.765Z,1750884311.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161862 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:11.989Z,1750884311.989 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:11.989Z,1750884311.989 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:11.989Z,1750884311.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:12.198Z,1750884312.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:12.201Z,1750884312.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 278.848816 m,
      bearing: 236.832789 deg,
      approach rate: -0.677056 m/s,
      LOS rate: 0.000751 deg/s,
      cmd heading: 238.457149 deg,
      new cmd heading: 238.458133 deg.

2025-06-25T20:45:12.202Z,1750884312.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161880 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:12.242Z,1750884312.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997089
2025-06-25T20:45:12.493Z,1750884312.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248115
2025-06-25T20:45:12.572Z,1750884312.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:12.575Z,1750884312.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 278.589142 m,
      bearing: 236.833135 deg,
      approach rate: -0.693474 m/s,
      LOS rate: 0.000922 deg/s,
      cmd heading: 238.458132 deg,
      new cmd heading: 238.459169 deg.

2025-06-25T20:45:12.576Z,1750884312.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161898 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:12.745Z,1750884312.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500238
2025-06-25T20:45:12.997Z,1750884312.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752278
2025-06-25T20:45:13.025Z,1750884313.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:13.027Z,1750884313.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 278.276672 m,
      bearing: 236.832461 deg,
      approach rate: -0.690913 m/s,
      LOS rate: -0.001491 deg/s,
      cmd heading: 238.459171 deg,
      new cmd heading: 238.457147 deg.

2025-06-25T20:45:13.028Z,1750884313.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161862 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:13.249Z,1750884313.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004585
2025-06-25T20:45:13.393Z,1750884313.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:13.400Z,1750884313.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 278.035919 m,
      bearing: 236.831904 deg,
      approach rate: -0.653592 m/s,
      LOS rate: -0.001512 deg/s,
      cmd heading: 238.457149 deg,
      new cmd heading: 238.455478 deg.

2025-06-25T20:45:13.401Z,1750884313.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161833 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:13.501Z,1750884313.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256167
2025-06-25T20:45:13.753Z,1750884313.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508433
2025-06-25T20:45:13.799Z,1750884313.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:13.806Z,1750884313.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:13.813Z,1750884313.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 277.743225 m,
      bearing: 236.831216 deg,
      approach rate: -0.709286 m/s,
      LOS rate: -0.001670 deg/s,
      cmd heading: 238.455482 deg,
      new cmd heading: 238.453415 deg.

2025-06-25T20:45:13.814Z,1750884313.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161797 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:14.005Z,1750884314.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760074
2025-06-25T20:45:14.229Z,1750884314.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:14.236Z,1750884314.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 277.458740 m,
      bearing: 236.830792 deg,
      approach rate: -0.671868 m/s,
      LOS rate: -0.001002 deg/s,
      cmd heading: 238.453406 deg,
      new cmd heading: 238.452133 deg.

2025-06-25T20:45:14.237Z,1750884314.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161775 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:14.257Z,1750884314.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012376
2025-06-25T20:45:14.509Z,1750884314.509 [DAT](INFO): DAT read: Rx Time:20:45:15.2399

2025-06-25T20:45:14.509Z,1750884314.509 [DAT](INFO): Rx dataTimestamp_ set to:1750884314.509080
2025-06-25T20:45:14.510Z,1750884314.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265313
2025-06-25T20:45:14.610Z,1750884314.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-25T20:45:14.613Z,1750884314.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.472748 m,
      nav range: 277.176178 m,
      bearing: 236.830386 deg,
      approach rate: -0.741180 m/s,
      LOS rate: -0.001066 deg/s,
      cmd heading: 238.452122 deg,
      new cmd heading: 238.450903 deg.

2025-06-25T20:45:14.614Z,1750884314.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161753 target range: 284.472748 and range: 287.20 m.
2025-06-25T20:45:14.762Z,1750884314.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517080
2025-06-25T20:45:15.019Z,1750884315.019 [DAT](INFO): DAT read: 20:45:15.2399 LVL= 20080, 21793, 20194, 28979, AGC= 72, IDX=  92,-0.22, 1.397, 0.106, 1.497, 0.539, PHS= 0.946,-0.386, 0.955, RAW= 150.3, -21.8, CAL= 155.2, -28.7, ROT= 354.8,  28.7

2025-06-25T20:45:15.020Z,1750884315.020 [DAT](INFO): got valid direction response:
 20:45:15.2399 LVL= 20080, 21793, 20194, 28979, AGC= 72, IDX=  92,-0.22, 1.397, 0.106, 1.497, 0.539, PHS= 0.946,-0.386, 0.955, RAW= 150.3, -21.8, CAL= 155.2, -28.7, ROT= 354.8,  28.7

2025-06-25T20:45:15.021Z,1750884315.021 [DAT](INFO): DAT read: Bearing 354.8,  28.7 (Local)

2025-06-25T20:45:15.021Z,1750884315.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  28.7 (Local)

2025-06-25T20:45:15.023Z,1750884315.023 [DAT](INFO): DAT read: Range 10 to 50 : 298.8 m  (Round-trip  398.4 ms) speed  0.4 m/s

2025-06-25T20:45:15.024Z,1750884315.024 [DAT](INFO): DAT read: user:644>

2025-06-25T20:45:15.025Z,1750884315.025 [DAT](INFO): DAT read: Tx time:20:45:16.3374

2025-06-25T20:45:15.025Z,1750884315.025 [DAT](INFO): Ping request sent.
2025-06-25T20:45:15.025Z,1750884315.025 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:15.025Z,1750884315.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:15.026Z,1750884315.026 [DAT](INFO): direction in FSK: [0.873536,-0.079498,-0.480224]
2025-06-25T20:45:15.027Z,1750884315.027 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:15.027Z,1750884315.027 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:15.038Z,1750884315.038 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:15.038Z,1750884315.038 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:15.135Z,1750884315.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 298.799988 m,
      deltaT: 3.780038 s,
      deltaX: 11.599976 m,
      approachRate: 3.068746 m/s,
      rangeRepo size: 4

2025-06-25T20:45:15.141Z,1750884315.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 295.964050 m,
      bearing: 235.637946 deg,
      lat: 36.906181 deg,
      lon: -122.116408 deg,
      deltaT: 3.780038 s,
      deltaX: 11.491302 m,
      approachRate: 3.039997 m/s,
      posRepo size: 4

2025-06-25T20:45:15.142Z,1750884315.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:15.152Z,1750884315.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 273.944672 m,
      bearing: 237.762663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001066 deg/s,
      cmd heading: 238.450892 deg,
      new cmd heading: 238.449218 deg.

2025-06-25T20:45:15.156Z,1750884315.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161724 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:15.265Z,1750884315.265 [DAT](INFO): DAT read: TxSync time:20:45:16.3366

2025-06-25T20:45:15.453Z,1750884315.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:15.455Z,1750884315.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 273.723419 m,
      bearing: 237.762671 deg,
      approach rate: -0.694644 m/s,
      LOS rate: 0.000025 deg/s,
      cmd heading: 238.449226 deg,
      new cmd heading: 238.449250 deg.

2025-06-25T20:45:15.464Z,1750884315.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161725 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:15.828Z,1750884315.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:15.830Z,1750884315.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:15.833Z,1750884315.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 273.448029 m,
      bearing: 237.762735 deg,
      approach rate: -0.730065 m/s,
      LOS rate: 0.000172 deg/s,
      cmd heading: 238.449253 deg,
      new cmd heading: 238.449447 deg.

2025-06-25T20:45:15.834Z,1750884315.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161728 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:16.021Z,1750884316.021 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:16.021Z,1750884316.021 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:16.021Z,1750884316.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:16.257Z,1750884316.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:16.259Z,1750884316.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 273.149902 m,
      bearing: 237.762932 deg,
      approach rate: -0.699636 m/s,
      LOS rate: 0.000463 deg/s,
      cmd heading: 238.449444 deg,
      new cmd heading: 238.450036 deg.

2025-06-25T20:45:16.261Z,1750884316.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161738 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:16.273Z,1750884316.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247828
2025-06-25T20:45:16.525Z,1750884316.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499743
2025-06-25T20:45:16.639Z,1750884316.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:16.643Z,1750884316.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 272.884247 m,
      bearing: 237.763148 deg,
      approach rate: -0.693502 m/s,
      LOS rate: 0.000563 deg/s,
      cmd heading: 238.450046 deg,
      new cmd heading: 238.450692 deg.

2025-06-25T20:45:16.645Z,1750884316.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161750 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:16.779Z,1750884316.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754111
2025-06-25T20:45:17.033Z,1750884317.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007871
2025-06-25T20:45:17.083Z,1750884317.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:17.086Z,1750884317.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 272.576813 m,
      bearing: 237.763831 deg,
      approach rate: -0.691777 m/s,
      LOS rate: 0.001539 deg/s,
      cmd heading: 238.450701 deg,
      new cmd heading: 238.452753 deg.

2025-06-25T20:45:17.087Z,1750884317.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161786 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:17.285Z,1750884317.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260002
2025-06-25T20:45:17.500Z,1750884317.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:17.502Z,1750884317.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 272.327972 m,
      bearing: 237.764441 deg,
      approach rate: -0.603738 m/s,
      LOS rate: 0.001482 deg/s,
      cmd heading: 238.452750 deg,
      new cmd heading: 238.454583 deg.

2025-06-25T20:45:17.503Z,1750884317.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161818 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:17.537Z,1750884317.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511893
2025-06-25T20:45:17.789Z,1750884317.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763708
2025-06-25T20:45:17.851Z,1750884317.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:17.854Z,1750884317.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:17.856Z,1750884317.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 272.047943 m,
      bearing: 237.765184 deg,
      approach rate: -0.782286 m/s,
      LOS rate: 0.002077 deg/s,
      cmd heading: 238.454581 deg,
      new cmd heading: 238.456811 deg.

2025-06-25T20:45:17.857Z,1750884317.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161857 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:18.041Z,1750884318.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015769
2025-06-25T20:45:18.293Z,1750884318.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267899
2025-06-25T20:45:18.299Z,1750884318.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:18.307Z,1750884318.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 271.746368 m,
      bearing: 237.767245 deg,
      approach rate: -0.676946 m/s,
      LOS rate: 0.004632 deg/s,
      cmd heading: 238.456821 deg,
      new cmd heading: 238.463012 deg.

2025-06-25T20:45:18.313Z,1750884318.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161965 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:18.545Z,1750884318.545 [DAT](INFO): DAT read: Rx Time:20:45:19.1361

2025-06-25T20:45:18.546Z,1750884318.546 [DAT](INFO): Rx dataTimestamp_ set to:1750884318.545685
2025-06-25T20:45:18.547Z,1750884318.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521826
2025-06-25T20:45:18.679Z,1750884318.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:18.681Z,1750884318.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 271.479156 m,
      bearing: 237.769111 deg,
      approach rate: -0.703999 m/s,
      LOS rate: 0.004920 deg/s,
      cmd heading: 238.463023 deg,
      new cmd heading: 238.468625 deg.

2025-06-25T20:45:18.682Z,1750884318.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162063 target range: 295.964050 and range: 298.80 m.
2025-06-25T20:45:18.797Z,1750884318.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772084
2025-06-25T20:45:19.056Z,1750884319.056 [DAT](INFO): DAT read: Range 10 to 50 : 295.9 m  (Round-trip  394.6 ms) speed  0.6 m/s

2025-06-25T20:45:19.059Z,1750884319.059 [DAT](INFO): DAT read: user:645>

2025-06-25T20:45:19.062Z,1750884319.062 [DAT](INFO): DAT read: Tx time:20:45:20.2374

2025-06-25T20:45:19.063Z,1750884319.063 [DAT](INFO): Ping request sent.
2025-06-25T20:45:19.063Z,1750884319.063 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:19.063Z,1750884319.063 [DAT](INFO): DAT read: TxSync time:20:45:20.2366

2025-06-25T20:45:19.064Z,1750884319.064 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:45:19.064Z,1750884319.064 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:19.065Z,1750884319.065 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:19.190Z,1750884319.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.899994 m,
      deltaT: 4.037366 s,
      deltaX: -2.899994 m,
      approachRate: -0.718289 m/s,
      rangeRepo size: 4

2025-06-25T20:45:19.190Z,1750884319.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:19.193Z,1750884319.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 271.126404 m,
      bearing: 237.771463 deg,
      approach rate: -0.690920 m/s,
      LOS rate: 0.004614 deg/s,
      cmd heading: 238.468624 deg,
      new cmd heading: 238.475690 deg.

2025-06-25T20:45:19.194Z,1750884319.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162186 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:19.469Z,1750884319.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:19.472Z,1750884319.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 270.933228 m,
      bearing: 237.772774 deg,
      approach rate: -0.690270 m/s,
      LOS rate: 0.004687 deg/s,
      cmd heading: 238.475700 deg,
      new cmd heading: 238.479634 deg.

2025-06-25T20:45:19.473Z,1750884319.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162255 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:19.878Z,1750884319.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:19.881Z,1750884319.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:19.883Z,1750884319.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 270.649261 m,
      bearing: 237.774783 deg,
      approach rate: -0.689718 m/s,
      LOS rate: 0.004885 deg/s,
      cmd heading: 238.479634 deg,
      new cmd heading: 238.485668 deg.

2025-06-25T20:45:19.885Z,1750884319.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162360 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:20.059Z,1750884320.059 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:20.059Z,1750884320.059 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:20.060Z,1750884320.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:20.309Z,1750884320.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245977
2025-06-25T20:45:20.320Z,1750884320.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:20.323Z,1750884320.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 270.362518 m,
      bearing: 237.778239 deg,
      approach rate: -0.658789 m/s,
      LOS rate: 0.007949 deg/s,
      cmd heading: 238.485672 deg,
      new cmd heading: 238.496051 deg.

2025-06-25T20:45:20.328Z,1750884320.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162541 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:20.561Z,1750884320.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498433
2025-06-25T20:45:20.688Z,1750884320.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:20.690Z,1750884320.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 270.090881 m,
      bearing: 237.781454 deg,
      approach rate: -0.731091 m/s,
      LOS rate: 0.008660 deg/s,
      cmd heading: 238.496054 deg,
      new cmd heading: 238.505707 deg.

2025-06-25T20:45:20.691Z,1750884320.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162710 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:20.813Z,1750884320.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750142
2025-06-25T20:45:21.067Z,1750884321.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004297
2025-06-25T20:45:21.155Z,1750884321.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:21.162Z,1750884321.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 269.782349 m,
      bearing: 237.785286 deg,
      approach rate: -0.659727 m/s,
      LOS rate: 0.008204 deg/s,
      cmd heading: 238.505698 deg,
      new cmd heading: 238.517208 deg.

2025-06-25T20:45:21.163Z,1750884321.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162910 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:21.317Z,1750884321.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254120
2025-06-25T20:45:21.500Z,1750884321.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:21.503Z,1750884321.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 269.543976 m,
      bearing: 237.788137 deg,
      approach rate: -0.692302 m/s,
      LOS rate: 0.008288 deg/s,
      cmd heading: 238.517200 deg,
      new cmd heading: 238.525761 deg.

2025-06-25T20:45:21.503Z,1750884321.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163060 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:21.569Z,1750884321.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506294
2025-06-25T20:45:21.821Z,1750884321.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758027
2025-06-25T20:45:21.890Z,1750884321.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:21.892Z,1750884321.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:21.895Z,1750884321.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 269.268097 m,
      bearing: 237.791296 deg,
      approach rate: -0.702216 m/s,
      LOS rate: 0.008048 deg/s,
      cmd heading: 238.525751 deg,
      new cmd heading: 238.535237 deg.

2025-06-25T20:45:21.912Z,1750884321.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163225 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:22.075Z,1750884322.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012192
2025-06-25T20:45:22.325Z,1750884322.325 [DAT](INFO): DAT read: Rx Time:20:45:23.0142

2025-06-25T20:45:22.325Z,1750884322.325 [DAT](INFO): Rx dataTimestamp_ set to:1750884322.325087
2025-06-25T20:45:22.326Z,1750884322.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263228
2025-06-25T20:45:22.358Z,1750884322.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:22.360Z,1750884322.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 268.943268 m,
      bearing: 237.794608 deg,
      approach rate: -0.698243 m/s,
      LOS rate: 0.007128 deg/s,
      cmd heading: 238.535232 deg,
      new cmd heading: 238.545180 deg.

2025-06-25T20:45:22.361Z,1750884322.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163399 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:22.577Z,1750884322.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514006
2025-06-25T20:45:22.756Z,1750884322.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.96 m.
2025-06-25T20:45:22.759Z,1750884322.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.964050 m,
      nav range: 268.669739 m,
      bearing: 237.797403 deg,
      approach rate: -0.688709 m/s,
      LOS rate: 0.007046 deg/s,
      cmd heading: 238.545176 deg,
      new cmd heading: 238.553571 deg.

2025-06-25T20:45:22.784Z,1750884322.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163545 target range: 295.964050 and range: 295.90 m.
2025-06-25T20:45:22.835Z,1750884322.835 [DAT](INFO): DAT read: 20:45:23.0142 LVL= 21952, 25393, 19730, 31907, AGC= 70, IDX= 212, 0.17,-1.952, 3.038,-1.895,-2.548, PHS= 0.685,-0.650, 0.651, RAW= 148.7, -10.4, CAL= 155.4, -18.6, ROT= 354.6,  18.6

2025-06-25T20:45:22.838Z,1750884322.838 [DAT](INFO): got valid direction response:
 20:45:23.0142 LVL= 21952, 25393, 19730, 31907, AGC= 70, IDX= 212, 0.17,-1.952, 3.038,-1.895,-2.548, PHS= 0.685,-0.650, 0.651, RAW= 148.7, -10.4, CAL= 155.4, -18.6, ROT= 354.6,  18.6

2025-06-25T20:45:22.839Z,1750884322.839 [DAT](INFO): DAT read: Bearing 354.6,  18.6 (Local)

2025-06-25T20:45:22.840Z,1750884322.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  18.6 (Local)

2025-06-25T20:45:22.842Z,1750884322.842 [DAT](INFO): DAT read: Range 10 to 50 : 279.5 m  (Round-trip  372.7 ms) speed  0.4 m/s

2025-06-25T20:45:22.843Z,1750884322.843 [DAT](INFO): DAT read: user:646>

2025-06-25T20:45:22.850Z,1750884322.850 [DAT](INFO): DAT read: Tx time:20:45:24.1374

2025-06-25T20:45:22.851Z,1750884322.851 [DAT](INFO): Ping request sent.
2025-06-25T20:45:22.851Z,1750884322.851 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:22.851Z,1750884322.851 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:22.857Z,1750884322.857 [DAT](INFO): direction in FSK: [0.943562,-0.089193,-0.318959]
2025-06-25T20:45:22.857Z,1750884322.857 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:22.858Z,1750884322.858 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:22.870Z,1750884322.870 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:22.870Z,1750884322.870 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:23.083Z,1750884323.083 [DAT](INFO): DAT read: TxSync time:20:45:24.1366

2025-06-25T20:45:23.188Z,1750884323.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.500000 m,
      deltaT: 3.778762 s,
      deltaX: -16.399994 m,
      approachRate: -4.340044 m/s,
      rangeRepo size: 4

2025-06-25T20:45:23.190Z,1750884323.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.840851 m,
      bearing: 234.951271 deg,
      lat: 36.906181 deg,
      lon: -122.116274 deg,
      deltaT: 7.816128 s,
      deltaX: -19.123199 m,
      approachRate: -2.446633 m/s,
      posRepo size: 4

2025-06-25T20:45:23.191Z,1750884323.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:23.194Z,1750884323.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 258.385254 m,
      bearing: 236.394416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007046 deg/s,
      cmd heading: 238.553564 deg,
      new cmd heading: 238.562703 deg.

2025-06-25T20:45:23.194Z,1750884323.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163705 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:23.515Z,1750884323.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:23.518Z,1750884323.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 258.149292 m,
      bearing: 236.394277 deg,
      approach rate: -0.718666 m/s,
      LOS rate: -0.000423 deg/s,
      cmd heading: 238.562716 deg,
      new cmd heading: 238.562300 deg.

2025-06-25T20:45:23.519Z,1750884323.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163698 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:23.920Z,1750884323.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:23.922Z,1750884323.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:23.925Z,1750884323.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 257.861542 m,
      bearing: 236.394006 deg,
      approach rate: -0.707739 m/s,
      LOS rate: -0.000667 deg/s,
      cmd heading: 238.562306 deg,
      new cmd heading: 238.561493 deg.

2025-06-25T20:45:23.926Z,1750884323.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163683 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:24.090Z,1750884324.090 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:24.091Z,1750884324.091 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:24.092Z,1750884324.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:24.341Z,1750884324.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490692
2025-06-25T20:45:24.353Z,1750884324.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:24.356Z,1750884324.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 257.554504 m,
      bearing: 236.394401 deg,
      approach rate: -0.712289 m/s,
      LOS rate: 0.000918 deg/s,
      cmd heading: 238.561487 deg,
      new cmd heading: 238.562674 deg.

2025-06-25T20:45:24.357Z,1750884324.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163704 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:24.593Z,1750884324.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742031
2025-06-25T20:45:24.721Z,1750884324.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:24.727Z,1750884324.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 257.292450 m,
      bearing: 236.394796 deg,
      approach rate: -0.711950 m/s,
      LOS rate: 0.001072 deg/s,
      cmd heading: 238.562662 deg,
      new cmd heading: 238.563846 deg.

2025-06-25T20:45:24.730Z,1750884324.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163724 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:24.846Z,1750884324.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994550
2025-06-25T20:45:25.099Z,1750884325.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248301
2025-06-25T20:45:25.197Z,1750884325.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:25.200Z,1750884325.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 256.953156 m,
      bearing: 236.395058 deg,
      approach rate: -0.712399 m/s,
      LOS rate: 0.000552 deg/s,
      cmd heading: 238.563836 deg,
      new cmd heading: 238.564626 deg.

2025-06-25T20:45:25.201Z,1750884325.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163738 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:25.349Z,1750884325.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498111
2025-06-25T20:45:25.476Z,1750884325.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:45:25.534Z,1750884325.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:25.537Z,1750884325.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 256.713531 m,
      bearing: 236.395257 deg,
      approach rate: -0.712821 m/s,
      LOS rate: 0.000591 deg/s,
      cmd heading: 238.564629 deg,
      new cmd heading: 238.565225 deg.

2025-06-25T20:45:25.537Z,1750884325.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163749 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:25.601Z,1750884325.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750332
2025-06-25T20:45:25.855Z,1750884325.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004411
2025-06-25T20:45:25.954Z,1750884325.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:25.960Z,1750884325.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:25.963Z,1750884325.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 256.427002 m,
      bearing: 236.395480 deg,
      approach rate: -0.671331 m/s,
      LOS rate: 0.000524 deg/s,
      cmd heading: 238.565230 deg,
      new cmd heading: 238.565901 deg.

2025-06-25T20:45:25.969Z,1750884325.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163761 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:26.108Z,1750884326.108 [DAT](INFO): DAT read: Rx Time:20:45:26.9104

2025-06-25T20:45:26.109Z,1750884326.109 [DAT](INFO): Rx dataTimestamp_ set to:1750884326.108400
2025-06-25T20:45:26.111Z,1750884326.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259810
2025-06-25T20:45:26.357Z,1750884326.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506355
2025-06-25T20:45:26.366Z,1750884326.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:26.369Z,1750884326.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 256.125092 m,
      bearing: 236.394502 deg,
      approach rate: -0.744675 m/s,
      LOS rate: -0.002416 deg/s,
      cmd heading: 238.565913 deg,
      new cmd heading: 238.562975 deg.

2025-06-25T20:45:26.370Z,1750884326.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163709 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:26.481Z,1750884326.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:45:26.612Z,1750884326.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760494
2025-06-25T20:45:26.741Z,1750884326.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.84 m.
2025-06-25T20:45:26.743Z,1750884326.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.840851 m,
      nav range: 255.859406 m,
      bearing: 236.393624 deg,
      approach rate: -0.708634 m/s,
      LOS rate: -0.002345 deg/s,
      cmd heading: 238.562962 deg,
      new cmd heading: 238.560324 deg.

2025-06-25T20:45:26.765Z,1750884326.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163663 target range: 276.840851 and range: 279.50 m.
2025-06-25T20:45:26.871Z,1750884326.871 [DAT](INFO): DAT read: 20:45:26.9104 LVL= 25152, 32753, 24546, 32755, AGC= 68, IDX= 397, 0.10, 1.415, 0.055, 1.461, 0.742, PHS= 0.761,-0.640, 0.716, RAW= 148.4, -12.1, CAL= 155.5, -20.2, ROT= 354.5,  20.2

2025-06-25T20:45:26.874Z,1750884326.874 [DAT](INFO): got valid direction response:
 20:45:26.9104 LVL= 25152, 32753, 24546, 32755, AGC= 68, IDX= 397, 0.10, 1.415, 0.055, 1.461, 0.742, PHS= 0.761,-0.640, 0.716, RAW= 148.4, -12.1, CAL= 155.5, -20.2, ROT= 354.5,  20.2

2025-06-25T20:45:26.875Z,1750884326.875 [DAT](INFO): DAT read: Bearing 354.5,  20.2 (Local)

2025-06-25T20:45:26.876Z,1750884326.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  20.2 (Local)

2025-06-25T20:45:26.878Z,1750884326.878 [DAT](INFO): DAT read: Range 10 to 50 : 276.6 m  (Round-trip  368.9 ms) speed  0.6 m/s

2025-06-25T20:45:26.879Z,1750884326.879 [DAT](INFO): DAT read: user:647>

2025-06-25T20:45:26.881Z,1750884326.881 [DAT](INFO): DAT read: Tx time:20:45:28.0374

2025-06-25T20:45:26.881Z,1750884326.881 [DAT](INFO): Ping request sent.
2025-06-25T20:45:26.881Z,1750884326.881 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:26.882Z,1750884326.882 [DAT](INFO): DAT read: TxSync time:20:45:28.0366

2025-06-25T20:45:26.882Z,1750884326.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:26.883Z,1750884326.883 [DAT](INFO): direction in FSK: [0.934172,-0.089951,-0.345298]
2025-06-25T20:45:26.884Z,1750884326.884 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:26.885Z,1750884326.885 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:26.888Z,1750884326.888 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:26.888Z,1750884326.888 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:27.229Z,1750884327.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.600006 m,
      deltaT: 4.033002 s,
      deltaX: -2.899994 m,
      approachRate: -0.719066 m/s,
      rangeRepo size: 4

2025-06-25T20:45:27.231Z,1750884327.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.968414 m,
      bearing: 234.912430 deg,
      lat: 36.906181 deg,
      lon: -122.116274 deg,
      deltaT: 4.033002 s,
      deltaX: -2.872437 m,
      approachRate: -0.712233 m/s,
      posRepo size: 4

2025-06-25T20:45:27.232Z,1750884327.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:27.235Z,1750884327.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 255.524765 m,
      bearing: 236.391912 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002345 deg/s,
      cmd heading: 238.560312 deg,
      new cmd heading: 238.556884 deg.

2025-06-25T20:45:27.237Z,1750884327.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163603 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:27.563Z,1750884327.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:27.570Z,1750884327.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 255.300735 m,
      bearing: 236.390798 deg,
      approach rate: -0.667900 m/s,
      LOS rate: -0.003325 deg/s,
      cmd heading: 238.556897 deg,
      new cmd heading: 238.553551 deg.

2025-06-25T20:45:27.571Z,1750884327.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163545 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:27.964Z,1750884327.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:27.967Z,1750884327.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:27.969Z,1750884327.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 255.011093 m,
      bearing: 236.389354 deg,
      approach rate: -0.718448 m/s,
      LOS rate: -0.003585 deg/s,
      cmd heading: 238.553564 deg,
      new cmd heading: 238.549228 deg.

2025-06-25T20:45:27.970Z,1750884327.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163469 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:28.124Z,1750884328.124 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:28.124Z,1750884328.124 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:28.125Z,1750884328.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:28.375Z,1750884328.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494000
2025-06-25T20:45:28.414Z,1750884328.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:28.425Z,1750884328.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 254.704788 m,
      bearing: 236.390585 deg,
      approach rate: -0.685080 m/s,
      LOS rate: 0.002756 deg/s,
      cmd heading: 238.549220 deg,
      new cmd heading: 238.552917 deg.

2025-06-25T20:45:28.426Z,1750884328.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163534 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:28.625Z,1750884328.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743427
2025-06-25T20:45:28.763Z,1750884328.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:28.771Z,1750884328.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 254.465912 m,
      bearing: 236.391531 deg,
      approach rate: -0.683339 m/s,
      LOS rate: 0.002707 deg/s,
      cmd heading: 238.552908 deg,
      new cmd heading: 238.555747 deg.

2025-06-25T20:45:28.772Z,1750884328.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163583 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:28.877Z,1750884328.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995640
2025-06-25T20:45:29.129Z,1750884329.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247991
2025-06-25T20:45:29.237Z,1750884329.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:29.247Z,1750884329.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 254.150513 m,
      bearing: 236.392700 deg,
      approach rate: -0.666666 m/s,
      LOS rate: 0.002475 deg/s,
      cmd heading: 238.555750 deg,
      new cmd heading: 238.559263 deg.

2025-06-25T20:45:29.253Z,1750884329.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163645 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:29.381Z,1750884329.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499655
2025-06-25T20:45:29.605Z,1750884329.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:29.607Z,1750884329.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 253.891922 m,
      bearing: 236.393496 deg,
      approach rate: -0.702133 m/s,
      LOS rate: 0.002163 deg/s,
      cmd heading: 238.559274 deg,
      new cmd heading: 238.561664 deg.

2025-06-25T20:45:29.608Z,1750884329.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163686 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:29.634Z,1750884329.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751961
2025-06-25T20:45:29.885Z,1750884329.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003472
2025-06-25T20:45:29.988Z,1750884329.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:29.990Z,1750884329.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:29.993Z,1750884329.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 253.630173 m,
      bearing: 236.394180 deg,
      approach rate: -0.678928 m/s,
      LOS rate: 0.001775 deg/s,
      cmd heading: 238.561651 deg,
      new cmd heading: 238.563704 deg.

2025-06-25T20:45:29.994Z,1750884329.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163722 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:30.137Z,1750884330.137 [DAT](INFO): DAT read: Rx Time:20:45:30.8070

2025-06-25T20:45:30.137Z,1750884330.137 [DAT](INFO): Rx dataTimestamp_ set to:1750884330.136984
2025-06-25T20:45:30.138Z,1750884330.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256547
2025-06-25T20:45:30.390Z,1750884330.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508621
2025-06-25T20:45:30.450Z,1750884330.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.97 m.
2025-06-25T20:45:30.457Z,1750884330.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.968414 m,
      nav range: 253.324570 m,
      bearing: 236.394841 deg,
      approach rate: -0.664331 m/s,
      LOS rate: 0.001439 deg/s,
      cmd heading: 238.563700 deg,
      new cmd heading: 238.565686 deg.

2025-06-25T20:45:30.458Z,1750884330.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163757 target range: 273.968414 and range: 276.60 m.
2025-06-25T20:45:30.649Z,1750884330.649 [DAT](INFO): DAT read: 20:45:30.8070 LVL= 24272, 32753, 22738, 32755, AGC= 70, IDX= 409, 0.13, 2.263, 1.084, 2.305, 1.577, PHS= 0.774,-0.446, 0.725, RAW= 148.0, -17.3, CAL= 153.9, -24.8, ROT= 356.1,  24.8

2025-06-25T20:45:30.650Z,1750884330.650 [DAT](INFO): got valid direction response:
 20:45:30.8070 LVL= 24272, 32753, 22738, 32755, AGC= 70, IDX= 409, 0.13, 2.263, 1.084, 2.305, 1.577, PHS= 0.774,-0.446, 0.725, RAW= 148.0, -17.3, CAL= 153.9, -24.8, ROT= 356.1,  24.8

2025-06-25T20:45:30.652Z,1750884330.652 [DAT](INFO): DAT read: Bearing 356.1,  24.8 (Local)

2025-06-25T20:45:30.652Z,1750884330.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  24.8 (Local)

2025-06-25T20:45:30.654Z,1750884330.654 [DAT](INFO): DAT read: Range 10 to 50 : 274.0 m  (Round-trip  365.4 ms) speed  0.3 m/s

2025-06-25T20:45:30.655Z,1750884330.655 [DAT](INFO): DAT read: user:648>

2025-06-25T20:45:30.657Z,1750884330.657 [DAT](INFO): DAT read: Tx time:20:45:31.8875

2025-06-25T20:45:30.657Z,1750884330.657 [DAT](INFO): Ping request sent.
2025-06-25T20:45:30.657Z,1750884330.657 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:30.658Z,1750884330.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:30.659Z,1750884330.659 [DAT](INFO): direction in FSK: [0.905675,-0.061743,-0.419452]
2025-06-25T20:45:30.660Z,1750884330.660 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:30.660Z,1750884330.660 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:30.665Z,1750884330.665 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:30.665Z,1750884330.665 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:30.832Z,1750884330.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 274.000000 m,
      deltaT: 3.778876 s,
      deltaX: -2.600006 m,
      approachRate: -0.688037 m/s,
      rangeRepo size: 4

2025-06-25T20:45:30.834Z,1750884330.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.393433 m,
      bearing: 236.923195 deg,
      lat: 36.906181 deg,
      lon: -122.116259 deg,
      deltaT: 3.778876 s,
      deltaX: -2.574982 m,
      approachRate: -0.681415 m/s,
      posRepo size: 4

2025-06-25T20:45:30.835Z,1750884330.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:30.846Z,1750884330.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 252.003922 m,
      bearing: 236.232576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001439 deg/s,
      cmd heading: 238.565694 deg,
      new cmd heading: 238.567323 deg.

2025-06-25T20:45:30.847Z,1750884330.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163785 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:30.893Z,1750884330.893 [DAT](INFO): DAT read: TxSync time:20:45:31.8867

2025-06-25T20:45:31.251Z,1750884331.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:31.254Z,1750884331.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 251.708862 m,
      bearing: 236.233025 deg,
      approach rate: -0.696031 m/s,
      LOS rate: 0.001059 deg/s,
      cmd heading: 238.567334 deg,
      new cmd heading: 238.568681 deg.

2025-06-25T20:45:31.255Z,1750884331.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163809 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:31.622Z,1750884331.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:31.625Z,1750884331.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 251.462143 m,
      bearing: 236.234193 deg,
      approach rate: -0.665615 m/s,
      LOS rate: 0.003154 deg/s,
      cmd heading: 238.568672 deg,
      new cmd heading: 238.572180 deg.

2025-06-25T20:45:31.626Z,1750884331.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163870 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:32.018Z,1750884332.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:32.020Z,1750884332.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:32.023Z,1750884332.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 251.197159 m,
      bearing: 236.235424 deg,
      approach rate: -0.665163 m/s,
      LOS rate: 0.003093 deg/s,
      cmd heading: 238.572169 deg,
      new cmd heading: 238.575866 deg.

2025-06-25T20:45:32.025Z,1750884332.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163934 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:32.154Z,1750884332.154 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:32.154Z,1750884332.154 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:32.155Z,1750884332.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:32.405Z,1750884332.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747848
2025-06-25T20:45:32.449Z,1750884332.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:32.458Z,1750884332.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 250.919571 m,
      bearing: 236.234699 deg,
      approach rate: -0.647512 m/s,
      LOS rate: -0.001692 deg/s,
      cmd heading: 238.575858 deg,
      new cmd heading: 238.573681 deg.

2025-06-25T20:45:32.475Z,1750884332.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163896 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:32.658Z,1750884332.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000207
2025-06-25T20:45:32.830Z,1750884332.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:32.837Z,1750884332.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 250.659821 m,
      bearing: 236.233972 deg,
      approach rate: -0.682032 m/s,
      LOS rate: -0.001912 deg/s,
      cmd heading: 238.573672 deg,
      new cmd heading: 238.571488 deg.

2025-06-25T20:45:32.838Z,1750884332.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163858 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:32.909Z,1750884332.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251844
2025-06-25T20:45:33.161Z,1750884333.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503625
2025-06-25T20:45:33.296Z,1750884333.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:33.299Z,1750884333.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 250.339279 m,
      bearing: 236.233020 deg,
      approach rate: -0.688347 m/s,
      LOS rate: -0.002046 deg/s,
      cmd heading: 238.571486 deg,
      new cmd heading: 238.568628 deg.

2025-06-25T20:45:33.300Z,1750884333.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163808 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:33.413Z,1750884333.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756234
2025-06-25T20:45:33.665Z,1750884333.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008173
2025-06-25T20:45:33.667Z,1750884333.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:33.670Z,1750884333.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 250.085129 m,
      bearing: 236.231724 deg,
      approach rate: -0.684534 m/s,
      LOS rate: -0.003495 deg/s,
      cmd heading: 238.568618 deg,
      new cmd heading: 238.564725 deg.

2025-06-25T20:45:33.671Z,1750884333.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163740 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:33.917Z,1750884333.917 [DAT](INFO): DAT read: Rx Time:20:45:34.6541

2025-06-25T20:45:33.917Z,1750884333.917 [DAT](INFO): Rx dataTimestamp_ set to:1750884333.916993
2025-06-25T20:45:33.918Z,1750884333.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260718
2025-06-25T20:45:34.030Z,1750884334.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:34.032Z,1750884334.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.39 m.
2025-06-25T20:45:34.035Z,1750884334.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.393433 m,
      nav range: 249.833771 m,
      bearing: 236.230427 deg,
      approach rate: -0.688886 m/s,
      LOS rate: -0.003557 deg/s,
      cmd heading: 238.564738 deg,
      new cmd heading: 238.560844 deg.

2025-06-25T20:45:34.035Z,1750884334.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163672 target range: 271.393433 and range: 274.00 m.
2025-06-25T20:45:34.169Z,1750884334.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511916
2025-06-25T20:45:34.427Z,1750884334.427 [DAT](INFO): DAT read: 20:45:34.6541 LVL= 32240, 32753, 30130, 32755, AGC= 68, IDX= 411,-0.22,-0.882,-2.226,-0.790,-1.474, PHS= 0.681,-0.705, 0.681, RAW= 150.0,  -9.5, CAL= 156.2, -17.5, ROT= 353.8,  17.5

2025-06-25T20:45:34.432Z,1750884334.432 [DAT](INFO): got valid direction response:
 20:45:34.6541 LVL= 32240, 32753, 30130, 32755, AGC= 68, IDX= 411,-0.22,-0.882,-2.226,-0.790,-1.474, PHS= 0.681,-0.705, 0.681, RAW= 150.0,  -9.5, CAL= 156.2, -17.5, ROT= 353.8,  17.5

2025-06-25T20:45:34.433Z,1750884334.433 [DAT](INFO): DAT read: Bearing 353.8,  17.5 (Local)

2025-06-25T20:45:34.433Z,1750884334.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  17.5 (Local)

2025-06-25T20:45:34.435Z,1750884334.435 [DAT](INFO): DAT read: Range 10 to 50 : 271.8 m  (Round-trip  362.5 ms) speed  0.9 m/s

2025-06-25T20:45:34.435Z,1750884334.435 [DAT](INFO): DAT read: user:649>

2025-06-25T20:45:34.436Z,1750884334.436 [DAT](INFO): DAT read: Tx time:20:45:35.7375

2025-06-25T20:45:34.437Z,1750884334.437 [DAT](INFO): Ping request sent.
2025-06-25T20:45:34.437Z,1750884334.437 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:34.437Z,1750884334.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:34.438Z,1750884334.438 [DAT](INFO): direction in FSK: [0.948139,-0.103001,-0.300706]
2025-06-25T20:45:34.438Z,1750884334.438 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:34.439Z,1750884334.439 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:34.446Z,1750884334.446 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:34.446Z,1750884334.446 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:34.581Z,1750884334.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.799988 m,
      deltaT: 3.780028 s,
      deltaX: -2.200012 m,
      approachRate: -0.582009 m/s,
      rangeRepo size: 4

2025-06-25T20:45:34.583Z,1750884334.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.214417 m,
      bearing: 233.824240 deg,
      lat: 36.906117 deg,
      lon: -122.116259 deg,
      deltaT: 3.780028 s,
      deltaX: -2.179016 m,
      approachRate: -0.576455 m/s,
      posRepo size: 4

2025-06-25T20:45:34.583Z,1750884334.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:34.586Z,1750884334.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 253.517227 m,
      bearing: 234.884635 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003557 deg/s,
      cmd heading: 238.560831 deg,
      new cmd heading: 238.555024 deg.

2025-06-25T20:45:34.587Z,1750884334.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163570 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:34.673Z,1750884334.673 [DAT](INFO): DAT read: TxSync time:20:45:35.7367

2025-06-25T20:45:34.870Z,1750884334.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:34.873Z,1750884334.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 253.292709 m,
      bearing: 234.881863 deg,
      approach rate: -0.763425 m/s,
      LOS rate: -0.009435 deg/s,
      cmd heading: 238.555012 deg,
      new cmd heading: 238.546688 deg.

2025-06-25T20:45:34.875Z,1750884334.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163425 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:35.339Z,1750884335.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:35.342Z,1750884335.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 252.964798 m,
      bearing: 234.877382 deg,
      approach rate: -0.699432 m/s,
      LOS rate: -0.009568 deg/s,
      cmd heading: 238.546679 deg,
      new cmd heading: 238.533221 deg.

2025-06-25T20:45:35.343Z,1750884335.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163190 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:35.684Z,1750884335.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:35.687Z,1750884335.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 252.723785 m,
      bearing: 234.874527 deg,
      approach rate: -0.697532 m/s,
      LOS rate: -0.008271 deg/s,
      cmd heading: 238.533210 deg,
      new cmd heading: 238.524637 deg.

2025-06-25T20:45:35.688Z,1750884335.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163040 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:36.083Z,1750884336.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:36.085Z,1750884336.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:36.088Z,1750884336.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 252.442596 m,
      bearing: 234.871336 deg,
      approach rate: -0.701457 m/s,
      LOS rate: -0.007972 deg/s,
      cmd heading: 238.524631 deg,
      new cmd heading: 238.515045 deg.

2025-06-25T20:45:36.089Z,1750884336.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162873 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:36.187Z,1750884336.187 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:36.187Z,1750884336.187 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:36.187Z,1750884336.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:36.441Z,1750884336.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004075
2025-06-25T20:45:36.531Z,1750884336.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:36.534Z,1750884336.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 252.133286 m,
      bearing: 234.868428 deg,
      approach rate: -0.693977 m/s,
      LOS rate: -0.006530 deg/s,
      cmd heading: 238.515042 deg,
      new cmd heading: 238.506310 deg.

2025-06-25T20:45:36.535Z,1750884336.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162720 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:36.693Z,1750884336.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255997
2025-06-25T20:45:36.890Z,1750884336.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:36.893Z,1750884336.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 251.873276 m,
      bearing: 234.865961 deg,
      approach rate: -0.724528 m/s,
      LOS rate: -0.006882 deg/s,
      cmd heading: 238.506299 deg,
      new cmd heading: 238.498890 deg.

2025-06-25T20:45:36.894Z,1750884336.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162591 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:36.946Z,1750884336.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508788
2025-06-25T20:45:37.197Z,1750884337.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760053
2025-06-25T20:45:37.382Z,1750884337.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:37.389Z,1750884337.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 251.541885 m,
      bearing: 234.862974 deg,
      approach rate: -0.672765 m/s,
      LOS rate: -0.006072 deg/s,
      cmd heading: 238.498895 deg,
      new cmd heading: 238.489921 deg.

2025-06-25T20:45:37.390Z,1750884337.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162435 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:37.449Z,1750884337.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011865
2025-06-25T20:45:37.702Z,1750884337.702 [DAT](INFO): DAT read: Rx Time:20:45:38.5000

2025-06-25T20:45:37.702Z,1750884337.702 [DAT](INFO): Rx dataTimestamp_ set to:1750884337.701721
2025-06-25T20:45:37.703Z,1750884337.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266133
2025-06-25T20:45:37.773Z,1750884337.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:37.776Z,1750884337.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 251.252701 m,
      bearing: 234.860361 deg,
      approach rate: -0.739854 m/s,
      LOS rate: -0.006694 deg/s,
      cmd heading: 238.489934 deg,
      new cmd heading: 238.482085 deg.

2025-06-25T20:45:37.777Z,1750884337.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162298 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:37.953Z,1750884337.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516071
2025-06-25T20:45:38.164Z,1750884338.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:38.166Z,1750884338.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.21 m.
2025-06-25T20:45:38.171Z,1750884338.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.214417 m,
      nav range: 250.977295 m,
      bearing: 234.857806 deg,
      approach rate: -0.701517 m/s,
      LOS rate: -0.006514 deg/s,
      cmd heading: 238.482093 deg,
      new cmd heading: 238.474420 deg.

2025-06-25T20:45:38.175Z,1750884338.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162164 target range: 269.214417 and range: 271.80 m.
2025-06-25T20:45:38.207Z,1750884338.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769963
2025-06-25T20:45:38.465Z,1750884338.465 [DAT](INFO): DAT read: 20:45:38.5000 LVL= 26304, 32753, 24866, 32755, AGC= 70, IDX= 403,-0.12, 2.213, 0.846, 2.189, 1.776, PHS= 0.526,-0.882, 0.410, RAW= 145.8,  -0.8, CAL= 149.7,  -9.9, ROT=   0.3,   9.9

2025-06-25T20:45:38.466Z,1750884338.466 [DAT](INFO): got valid direction response:
 20:45:38.5000 LVL= 26304, 32753, 24866, 32755, AGC= 70, IDX= 403,-0.12, 2.213, 0.846, 2.189, 1.776, PHS= 0.526,-0.882, 0.410, RAW= 145.8,  -0.8, CAL= 149.7,  -9.9, ROT=   0.3,   9.9

2025-06-25T20:45:38.467Z,1750884338.467 [DAT](INFO): DAT read: Bearing   0.3,   9.9 (Local)

2025-06-25T20:45:38.468Z,1750884338.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,   9.9 (Local)

2025-06-25T20:45:38.470Z,1750884338.470 [DAT](INFO): DAT read: Range 10 to 50 : 268.8 m  (Round-trip  358.4 ms) speed  0.4 m/s

2025-06-25T20:45:38.470Z,1750884338.470 [DAT](INFO): DAT read: user:650>

2025-06-25T20:45:38.471Z,1750884338.471 [DAT](INFO): DAT read: Tx time:20:45:39.5875

2025-06-25T20:45:38.471Z,1750884338.471 [DAT](INFO): Ping request sent.
2025-06-25T20:45:38.471Z,1750884338.471 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:38.476Z,1750884338.476 [DAT](INFO): DAT read: TxSync time:20:45:39.5867

2025-06-25T20:45:38.478Z,1750884338.478 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:38.479Z,1750884338.479 [DAT](INFO): direction in FSK: [0.985096,0.005158,-0.171929]
2025-06-25T20:45:38.479Z,1750884338.479 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:38.479Z,1750884338.479 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:38.483Z,1750884338.483 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:38.483Z,1750884338.483 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:38.671Z,1750884338.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.799988 m,
      deltaT: 4.036268 s,
      deltaX: -3.000000 m,
      approachRate: -0.743261 m/s,
      rangeRepo size: 4

2025-06-25T20:45:38.677Z,1750884338.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 266.242401 m,
      bearing: 239.409877 deg,
      lat: 36.906117 deg,
      lon: -122.116269 deg,
      deltaT: 4.036268 s,
      deltaX: -2.972015 m,
      approachRate: -0.736328 m/s,
      posRepo size: 4

2025-06-25T20:45:38.678Z,1750884338.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:38.685Z,1750884338.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 251.380478 m,
      bearing: 234.974495 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006514 deg/s,
      cmd heading: 238.474416 deg,
      new cmd heading: 238.464562 deg.

2025-06-25T20:45:38.685Z,1750884338.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161992 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:38.968Z,1750884338.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:38.971Z,1750884338.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 251.146301 m,
      bearing: 234.974036 deg,
      approach rate: -0.786493 m/s,
      LOS rate: -0.001546 deg/s,
      cmd heading: 238.464553 deg,
      new cmd heading: 238.463172 deg.

2025-06-25T20:45:38.988Z,1750884338.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161967 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:39.448Z,1750884339.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:39.451Z,1750884339.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 250.824661 m,
      bearing: 234.973123 deg,
      approach rate: -0.693178 m/s,
      LOS rate: -0.001970 deg/s,
      cmd heading: 238.463159 deg,
      new cmd heading: 238.460418 deg.

2025-06-25T20:45:39.456Z,1750884339.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161920 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:39.775Z,1750884339.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:39.778Z,1750884339.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 250.581192 m,
      bearing: 234.972357 deg,
      approach rate: -0.708610 m/s,
      LOS rate: -0.002232 deg/s,
      cmd heading: 238.460427 deg,
      new cmd heading: 238.458127 deg.

2025-06-25T20:45:39.779Z,1750884339.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161880 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:40.174Z,1750884340.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:40.176Z,1750884340.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:40.179Z,1750884340.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 250.300735 m,
      bearing: 234.971417 deg,
      approach rate: -0.700131 m/s,
      LOS rate: -0.002349 deg/s,
      cmd heading: 238.458132 deg,
      new cmd heading: 238.455309 deg.

2025-06-25T20:45:40.192Z,1750884340.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161830 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:40.223Z,1750884340.223 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:40.224Z,1750884340.224 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:40.224Z,1750884340.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:40.473Z,1750884340.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001270
2025-06-25T20:45:40.622Z,1750884340.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:40.626Z,1750884340.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 250.003937 m,
      bearing: 234.971803 deg,
      approach rate: -0.664995 m/s,
      LOS rate: 0.000867 deg/s,
      cmd heading: 238.455318 deg,
      new cmd heading: 238.456479 deg.

2025-06-25T20:45:40.627Z,1750884340.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161850 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:40.726Z,1750884340.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254127
2025-06-25T20:45:40.977Z,1750884340.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505461
2025-06-25T20:45:40.999Z,1750884340.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:41.006Z,1750884341.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 249.725250 m,
      bearing: 234.972129 deg,
      approach rate: -0.740243 m/s,
      LOS rate: 0.000866 deg/s,
      cmd heading: 238.456466 deg,
      new cmd heading: 238.457444 deg.

2025-06-25T20:45:41.007Z,1750884341.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161868 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:41.229Z,1750884341.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757236
2025-06-25T20:45:41.444Z,1750884341.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:41.447Z,1750884341.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 249.408630 m,
      bearing: 234.972445 deg,
      approach rate: -0.711648 m/s,
      LOS rate: 0.000712 deg/s,
      cmd heading: 238.457449 deg,
      new cmd heading: 238.458400 deg.

2025-06-25T20:45:41.447Z,1750884341.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161884 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:41.482Z,1750884341.482 [DAT](INFO): DAT read: Rx Time:20:45:42.3265

2025-06-25T20:45:41.482Z,1750884341.482 [DAT](INFO): Rx dataTimestamp_ set to:1750884341.481801
2025-06-25T20:45:41.483Z,1750884341.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011179
2025-06-25T20:45:41.733Z,1750884341.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261365
2025-06-25T20:45:41.811Z,1750884341.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:41.814Z,1750884341.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 249.148636 m,
      bearing: 234.972706 deg,
      approach rate: -0.708034 m/s,
      LOS rate: 0.000710 deg/s,
      cmd heading: 238.458406 deg,
      new cmd heading: 238.459188 deg.

2025-06-25T20:45:41.815Z,1750884341.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161898 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:41.986Z,1750884341.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514354
2025-06-25T20:45:42.214Z,1750884342.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:42.216Z,1750884342.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.24 m.
2025-06-25T20:45:42.218Z,1750884342.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.242401 m,
      nav range: 248.862839 m,
      bearing: 234.972993 deg,
      approach rate: -0.705989 m/s,
      LOS rate: 0.000710 deg/s,
      cmd heading: 238.459198 deg,
      new cmd heading: 238.460060 deg.

2025-06-25T20:45:42.219Z,1750884342.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161913 target range: 266.242401 and range: 268.80 m.
2025-06-25T20:45:42.243Z,1750884342.243 [DAT](INFO): DAT read: 20:45:42.3265 LVL= 29600, 30529, 25330, 32755, AGC= 72, IDX= 416, 0.03,-1.064,-2.093,-0.930,-1.940, PHS= 0.964,-0.106, 1.007, RAW= 151.9, -31.1, CAL= 154.8, -36.7, ROT= 355.2,  36.7

2025-06-25T20:45:42.244Z,1750884342.244 [DAT](INFO): got valid direction response:
 20:45:42.3265 LVL= 29600, 30529, 25330, 32755, AGC= 72, IDX= 416, 0.03,-1.064,-2.093,-0.930,-1.940, PHS= 0.964,-0.106, 1.007, RAW= 151.9, -31.1, CAL= 154.8, -36.7, ROT= 355.2,  36.7

2025-06-25T20:45:42.245Z,1750884342.245 [DAT](INFO): DAT read: Bearing 355.2,  36.7 (Local)

2025-06-25T20:45:42.245Z,1750884342.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  36.7 (Local)

2025-06-25T20:45:42.247Z,1750884342.247 [DAT](INFO): DAT read: Range 10 to 50 : 251.1 m  (Round-trip  334.8 ms) speed  0.5 m/s

2025-06-25T20:45:42.248Z,1750884342.248 [DAT](INFO): DAT read: user:651>

2025-06-25T20:45:42.248Z,1750884342.248 [DAT](INFO): DAT read: Tx time:20:45:43.4391

2025-06-25T20:45:42.249Z,1750884342.249 [DAT](INFO): Ping request sent.
2025-06-25T20:45:42.249Z,1750884342.249 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:42.249Z,1750884342.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:42.250Z,1750884342.250 [DAT](INFO): direction in FSK: [0.798964,-0.067091,-0.597625]
2025-06-25T20:45:42.251Z,1750884342.251 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:42.251Z,1750884342.251 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:42.259Z,1750884342.259 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:42.265Z,1750884342.265 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:42.491Z,1750884342.491 [DAT](INFO): DAT read: TxSync time:20:45:43.4383

2025-06-25T20:45:42.651Z,1750884342.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.100006 m,
      deltaT: 3.779753 s,
      deltaX: -17.699982 m,
      approachRate: -4.682841 m/s,
      rangeRepo size: 4

2025-06-25T20:45:42.654Z,1750884342.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.710693 m,
      bearing: 236.987361 deg,
      lat: 36.906210 deg,
      lon: -122.116259 deg,
      deltaT: 3.779753 s,
      deltaX: -17.531708 m,
      approachRate: -4.638321 m/s,
      posRepo size: 4

2025-06-25T20:45:42.655Z,1750884342.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:42.674Z,1750884342.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 242.047058 m,
      bearing: 236.850930 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000710 deg/s,
      cmd heading: 238.460072 deg,
      new cmd heading: 238.460996 deg.

2025-06-25T20:45:42.675Z,1750884342.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161930 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:43.041Z,1750884343.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:43.043Z,1750884343.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 241.771286 m,
      bearing: 236.854514 deg,
      approach rate: -0.705072 m/s,
      LOS rate: 0.009174 deg/s,
      cmd heading: 238.461001 deg,
      new cmd heading: 238.471766 deg.

2025-06-25T20:45:43.048Z,1750884343.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162117 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:43.467Z,1750884343.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:43.470Z,1750884343.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 241.462723 m,
      bearing: 236.857767 deg,
      approach rate: -0.723232 m/s,
      LOS rate: 0.007635 deg/s,
      cmd heading: 238.471766 deg,
      new cmd heading: 238.481538 deg.

2025-06-25T20:45:43.471Z,1750884343.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162288 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:43.820Z,1750884343.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:43.823Z,1750884343.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 241.212341 m,
      bearing: 236.860313 deg,
      approach rate: -0.710326 m/s,
      LOS rate: 0.007230 deg/s,
      cmd heading: 238.481546 deg,
      new cmd heading: 238.489191 deg.

2025-06-25T20:45:43.824Z,1750884343.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162422 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:44.234Z,1750884344.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:44.237Z,1750884344.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:44.239Z,1750884344.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 240.925537 m,
      bearing: 236.863112 deg,
      approach rate: -0.688074 m/s,
      LOS rate: 0.006724 deg/s,
      cmd heading: 238.489196 deg,
      new cmd heading: 238.497605 deg.

2025-06-25T20:45:44.240Z,1750884344.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162569 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:44.273Z,1750884344.273 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:44.273Z,1750884344.273 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:44.274Z,1750884344.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:44.525Z,1750884344.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275857
2025-06-25T20:45:44.676Z,1750884344.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:44.679Z,1750884344.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 240.624542 m,
      bearing: 236.865716 deg,
      approach rate: -0.684685 m/s,
      LOS rate: 0.005931 deg/s,
      cmd heading: 238.497611 deg,
      new cmd heading: 238.505432 deg.

2025-06-25T20:45:44.684Z,1750884344.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162705 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:44.777Z,1750884344.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528552
2025-06-25T20:45:45.030Z,1750884345.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780936
2025-06-25T20:45:45.081Z,1750884345.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:45.088Z,1750884345.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 240.328461 m,
      bearing: 236.868216 deg,
      approach rate: -0.731553 m/s,
      LOS rate: 0.006183 deg/s,
      cmd heading: 238.505425 deg,
      new cmd heading: 238.512933 deg.

2025-06-25T20:45:45.089Z,1750884345.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162836 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:45.284Z,1750884345.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034688
2025-06-25T20:45:45.491Z,1750884345.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:45.498Z,1750884345.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 240.036774 m,
      bearing: 236.869159 deg,
      approach rate: -0.710912 m/s,
      LOS rate: 0.002302 deg/s,
      cmd heading: 238.512938 deg,
      new cmd heading: 238.515771 deg.

2025-06-25T20:45:45.499Z,1750884345.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162886 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:45.533Z,1750884345.533 [DAT](INFO): DAT read: Rx Time:20:45:46.2162

2025-06-25T20:45:45.534Z,1750884345.534 [DAT](INFO): Rx dataTimestamp_ set to:1750884345.533290
2025-06-25T20:45:45.534Z,1750884345.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285227
2025-06-25T20:45:45.785Z,1750884345.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535841
2025-06-25T20:45:45.847Z,1750884345.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:45.850Z,1750884345.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 239.788803 m,
      bearing: 236.869928 deg,
      approach rate: -0.697654 m/s,
      LOS rate: 0.002167 deg/s,
      cmd heading: 238.515779 deg,
      new cmd heading: 238.518090 deg.

2025-06-25T20:45:45.850Z,1750884345.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162926 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:46.046Z,1750884346.046 [DAT](INFO): DAT read: 20:45:46.2162 LVL= 31728, 32753, 31394, 32755, AGC= 68, IDX= 327,-0.15, 2.549, 1.250, 2.666, 1.890, PHS= 0.747,-0.592, 0.774, RAW= 151.0, -13.6, CAL= 157.8, -21.0, ROT= 352.2,  21.0

2025-06-25T20:45:46.047Z,1750884346.047 [DAT](INFO): got valid direction response:
 20:45:46.2162 LVL= 31728, 32753, 31394, 32755, AGC= 68, IDX= 327,-0.15, 2.549, 1.250, 2.666, 1.890, PHS= 0.747,-0.592, 0.774, RAW= 151.0, -13.6, CAL= 157.8, -21.0, ROT= 352.2,  21.0

2025-06-25T20:45:46.049Z,1750884346.049 [DAT](INFO): DAT read: Bearing 352.2,  21.0 (Local)

2025-06-25T20:45:46.049Z,1750884346.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,  21.0 (Local)

2025-06-25T20:45:46.051Z,1750884346.051 [DAT](INFO): DAT read: Range 10 to 50 : 279.6 m  (Round-trip  372.9 ms) speed  0.4 m/s

2025-06-25T20:45:46.053Z,1750884346.053 [DAT](INFO): DAT read: user:652>

2025-06-25T20:45:46.054Z,1750884346.054 [DAT](INFO): DAT read: Tx time:20:45:47.3375

2025-06-25T20:45:46.054Z,1750884346.054 [DAT](INFO): Ping request sent.
2025-06-25T20:45:46.054Z,1750884346.054 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:46.055Z,1750884346.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:46.065Z,1750884346.065 [DAT](INFO): direction in FSK: [0.924943,-0.126701,-0.358368]
2025-06-25T20:45:46.066Z,1750884346.066 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:46.066Z,1750884346.066 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:46.110Z,1750884346.110 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:46.110Z,1750884346.110 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:46.282Z,1750884346.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 279.600006 m,
 deltaT: 3.802598 s,
 deltaX: 28.500000 m,
 approachRate: 7.494876 m/s,
 rangeRepo size: 4
2025-06-25T20:45:46.283Z,1750884346.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:46.289Z,1750884346.289 [DAT](INFO): DAT read: TxSync time:20:45:47.3368

2025-06-25T20:45:46.291Z,1750884346.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 239.496826 m,
      bearing: 236.870777 deg,
      approach rate: -0.671826 m/s,
      LOS rate: 0.001954 deg/s,
      cmd heading: 238.518102 deg,
      new cmd heading: 238.520649 deg.

2025-06-25T20:45:46.297Z,1750884346.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162971 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:46.684Z,1750884346.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:46.686Z,1750884346.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:46.689Z,1750884346.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 239.206451 m,
      bearing: 236.871470 deg,
      approach rate: -0.717746 m/s,
      LOS rate: 0.001717 deg/s,
      cmd heading: 238.520642 deg,
      new cmd heading: 238.522727 deg.

2025-06-25T20:45:46.690Z,1750884346.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163007 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:46.793Z,1750884346.793 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:46.793Z,1750884346.793 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:46.793Z,1750884346.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:47.045Z,1750884347.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990468
2025-06-25T20:45:47.071Z,1750884347.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:47.080Z,1750884347.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 238.953171 m,
      bearing: 236.872033 deg,
      approach rate: -0.658364 m/s,
      LOS rate: 0.001465 deg/s,
      cmd heading: 238.522719 deg,
      new cmd heading: 238.524409 deg.

2025-06-25T20:45:47.081Z,1750884347.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163036 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:47.297Z,1750884347.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242855
2025-06-25T20:45:47.549Z,1750884347.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494571
2025-06-25T20:45:47.554Z,1750884347.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:47.557Z,1750884347.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 238.612778 m,
      bearing: 236.870254 deg,
      approach rate: -0.703921 m/s,
      LOS rate: -0.003686 deg/s,
      cmd heading: 238.524413 deg,
      new cmd heading: 238.519065 deg.

2025-06-25T20:45:47.558Z,1750884347.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162943 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:47.801Z,1750884347.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746359
2025-06-25T20:45:47.868Z,1750884347.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:47.871Z,1750884347.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 238.397842 m,
      bearing: 236.869085 deg,
      approach rate: -0.684861 m/s,
      LOS rate: -0.003726 deg/s,
      cmd heading: 238.519058 deg,
      new cmd heading: 238.515550 deg.

2025-06-25T20:45:47.872Z,1750884347.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162882 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:48.053Z,1750884348.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998366
2025-06-25T20:45:48.268Z,1750884348.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:48.271Z,1750884348.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 238.126160 m,
      bearing: 236.867628 deg,
      approach rate: -0.679487 m/s,
      LOS rate: -0.003648 deg/s,
      cmd heading: 238.515561 deg,
      new cmd heading: 238.511184 deg.

2025-06-25T20:45:48.288Z,1750884348.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162806 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:48.305Z,1750884348.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250393
2025-06-25T20:45:48.557Z,1750884348.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502281
2025-06-25T20:45:48.696Z,1750884348.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:48.698Z,1750884348.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:48.717Z,1750884348.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 237.836807 m,
      bearing: 236.864832 deg,
      approach rate: -0.671953 m/s,
      LOS rate: -0.006501 deg/s,
      cmd heading: 238.511189 deg,
      new cmd heading: 238.502791 deg.

2025-06-25T20:45:48.718Z,1750884348.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162659 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:48.809Z,1750884348.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754288
2025-06-25T20:45:49.061Z,1750884349.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006357
2025-06-25T20:45:49.094Z,1750884349.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:49.101Z,1750884349.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 237.583847 m,
      bearing: 236.862373 deg,
      approach rate: -0.638734 m/s,
      LOS rate: -0.006217 deg/s,
      cmd heading: 238.502802 deg,
      new cmd heading: 238.495416 deg.

2025-06-25T20:45:49.102Z,1750884349.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162530 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:49.314Z,1750884349.314 [DAT](INFO): DAT read: Rx Time:20:45:50.0694

2025-06-25T20:45:49.315Z,1750884349.315 [DAT](INFO): Rx dataTimestamp_ set to:1750884349.314648
2025-06-25T20:45:49.315Z,1750884349.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260971
2025-06-25T20:45:49.563Z,1750884349.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.71 m.
2025-06-25T20:45:49.566Z,1750884349.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511502
2025-06-25T20:45:49.571Z,1750884349.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.710693 m,
      nav range: 237.266663 m,
      bearing: 236.861127 deg,
      approach rate: -0.678516 m/s,
      LOS rate: -0.002668 deg/s,
      cmd heading: 238.495425 deg,
      new cmd heading: 238.491684 deg.

2025-06-25T20:45:49.572Z,1750884349.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162465 target range: 248.710693 and range: 251.10 m.
2025-06-25T20:45:49.824Z,1750884349.824 [DAT](INFO): DAT read: 20:45:50.0694 LVL= 18208, 27857, 17298, 26163, AGC= 69, IDX= 488, 0.19, 3.018, 1.568, 2.961, 2.495, PHS= 0.611,-0.879, 0.464, RAW= 144.8,  -2.8, CAL= 149.5, -11.8, ROT=   0.5,  11.8

2025-06-25T20:45:49.825Z,1750884349.825 [DAT](INFO): got valid direction response:
 20:45:50.0694 LVL= 18208, 27857, 17298, 26163, AGC= 69, IDX= 488, 0.19, 3.018, 1.568, 2.961, 2.495, PHS= 0.611,-0.879, 0.464, RAW= 144.8,  -2.8, CAL= 149.5, -11.8, ROT=   0.5,  11.8

2025-06-25T20:45:49.827Z,1750884349.827 [DAT](INFO): DAT read: Bearing   0.5,  11.8 (Local)

2025-06-25T20:45:49.827Z,1750884349.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  11.8 (Local)

2025-06-25T20:45:49.830Z,1750884349.830 [DAT](INFO): DAT read: Range 10 to 50 : 245.7 m  (Round-trip  327.7 ms) speed  1.2 m/s

2025-06-25T20:45:49.831Z,1750884349.831 [DAT](INFO): DAT read: user:653>

2025-06-25T20:45:49.832Z,1750884349.832 [DAT](INFO): DAT read: Tx time:20:45:51.1875

2025-06-25T20:45:49.832Z,1750884349.832 [DAT](INFO): Ping request sent.
2025-06-25T20:45:49.832Z,1750884349.832 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:49.832Z,1750884349.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:49.833Z,1750884349.833 [DAT](INFO): direction in FSK: [0.978830,0.008542,-0.204496]
2025-06-25T20:45:49.834Z,1750884349.834 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:49.834Z,1750884349.834 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:49.837Z,1750884349.837 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:49.837Z,1750884349.837 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:49.933Z,1750884349.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.699997 m,
      deltaT: 7.579978 s,
      deltaX: -5.400009 m,
      approachRate: -0.712404 m/s,
      rangeRepo size: 4

2025-06-25T20:45:49.935Z,1750884349.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.362045 m,
      bearing: 240.373361 deg,
      lat: 36.906210 deg,
      lon: -122.116347 deg,
      deltaT: 7.579978 s,
      deltaX: -5.348648 m,
      approachRate: -0.705628 m/s,
      posRepo size: 4

2025-06-25T20:45:49.938Z,1750884349.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:49.949Z,1750884349.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 243.561050 m,
      bearing: 237.857504 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002668 deg/s,
      cmd heading: 238.491682 deg,
      new cmd heading: 238.488752 deg.

2025-06-25T20:45:49.950Z,1750884349.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162414 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:50.070Z,1750884350.070 [DAT](INFO): DAT read: TxSync time:20:45:51.1868

2025-06-25T20:45:50.304Z,1750884350.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:50.307Z,1750884350.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 243.315521 m,
      bearing: 237.857625 deg,
      approach rate: -0.690239 m/s,
      LOS rate: 0.000341 deg/s,
      cmd heading: 238.488759 deg,
      new cmd heading: 238.489123 deg.

2025-06-25T20:45:50.308Z,1750884350.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162420 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:50.726Z,1750884350.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:50.728Z,1750884350.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:50.730Z,1750884350.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 243.022034 m,
      bearing: 237.858231 deg,
      approach rate: -0.661258 m/s,
      LOS rate: 0.001366 deg/s,
      cmd heading: 238.489114 deg,
      new cmd heading: 238.490934 deg.

2025-06-25T20:45:50.731Z,1750884350.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162452 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:50.825Z,1750884350.825 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:50.825Z,1750884350.825 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:50.825Z,1750884350.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:51.077Z,1750884351.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244625
2025-06-25T20:45:51.090Z,1750884351.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:51.113Z,1750884351.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 242.781815 m,
      bearing: 237.858697 deg,
      approach rate: -0.663050 m/s,
      LOS rate: 0.001289 deg/s,
      cmd heading: 238.490945 deg,
      new cmd heading: 238.492346 deg.

2025-06-25T20:45:51.114Z,1750884351.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162477 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:51.330Z,1750884351.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497520
2025-06-25T20:45:51.564Z,1750884351.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:51.567Z,1750884351.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 242.472992 m,
      bearing: 237.859276 deg,
      approach rate: -0.650704 m/s,
      LOS rate: 0.001221 deg/s,
      cmd heading: 238.492338 deg,
      new cmd heading: 238.494076 deg.

2025-06-25T20:45:51.576Z,1750884351.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162507 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:51.581Z,1750884351.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748749
2025-06-25T20:45:51.833Z,1750884351.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000554
2025-06-25T20:45:51.923Z,1750884351.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:51.926Z,1750884351.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 242.232239 m,
      bearing: 237.859440 deg,
      approach rate: -0.671495 m/s,
      LOS rate: 0.000459 deg/s,
      cmd heading: 238.494087 deg,
      new cmd heading: 238.494580 deg.

2025-06-25T20:45:51.927Z,1750884351.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162516 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:52.085Z,1750884352.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252510
2025-06-25T20:45:52.301Z,1750884352.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:52.303Z,1750884352.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 241.983994 m,
      bearing: 237.859596 deg,
      approach rate: -0.657229 m/s,
      LOS rate: 0.000413 deg/s,
      cmd heading: 238.494578 deg,
      new cmd heading: 238.495046 deg.

2025-06-25T20:45:52.304Z,1750884352.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162524 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:52.339Z,1750884352.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506500
2025-06-25T20:45:52.589Z,1750884352.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756480
2025-06-25T20:45:52.707Z,1750884352.707 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250625124703  +9.7,   0.0,1489.1,  0
2025-06-25T20:45:52.722Z,1750884352.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:52.725Z,1750884352.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 241.707413 m,
      bearing: 237.859793 deg,
      approach rate: -0.656845 m/s,
      LOS rate: 0.000469 deg/s,
      cmd heading: 238.495043 deg,
      new cmd heading: 238.495635 deg.

2025-06-25T20:45:52.726Z,1750884352.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162534 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:52.845Z,1750884352.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012436
2025-06-25T20:45:53.093Z,1750884353.093 [DAT](INFO): DAT read: Rx Time:20:45:53.9159

2025-06-25T20:45:53.093Z,1750884353.093 [DAT](INFO): Rx dataTimestamp_ set to:1750884353.093138
2025-06-25T20:45:53.094Z,1750884353.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261755
2025-06-25T20:45:53.146Z,1750884353.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:53.152Z,1750884353.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:53.155Z,1750884353.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 241.438141 m,
      bearing: 237.859985 deg,
      approach rate: -0.625401 m/s,
      LOS rate: 0.000447 deg/s,
      cmd heading: 238.495644 deg,
      new cmd heading: 238.496221 deg.

2025-06-25T20:45:53.160Z,1750884353.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162544 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:53.345Z,1750884353.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512617
2025-06-25T20:45:53.584Z,1750884353.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:53.602Z,1750884353.602 [DAT](INFO): DAT read: Range 10 to 50 : 243.1 m  (Round-trip  324.2 ms) speed  0.5 m/s

2025-06-25T20:45:53.603Z,1750884353.603 [DAT](INFO): DAT read: user:654>

2025-06-25T20:45:53.603Z,1750884353.603 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:45:53.604Z,1750884353.604 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:53.604Z,1750884353.604 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:53.605Z,1750884353.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:53.608Z,1750884353.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 241.173492 m,
      bearing: 237.860239 deg,
      approach rate: -0.618858 m/s,
      LOS rate: 0.000593 deg/s,
      cmd heading: 238.496218 deg,
      new cmd heading: 238.496978 deg.

2025-06-25T20:45:53.609Z,1750884353.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162558 target range: 243.362045 and range: 245.70 m.
2025-06-25T20:45:53.849Z,1750884353.849 [DAT](INFO): DAT read: Tx time:20:45:55.0375

2025-06-25T20:45:53.849Z,1750884353.849 [DAT](INFO): Ping request sent.
2025-06-25T20:45:53.849Z,1750884353.849 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:45:53.850Z,1750884353.850 [DAT](INFO): publishing transmit ping time
2025-06-25T20:45:53.850Z,1750884353.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-25T20:45:53.945Z,1750884353.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.100006 m,
      deltaT: 3.783368 s,
      deltaX: -2.599991 m,
      approachRate: -0.687216 m/s,
      rangeRepo size: 4

2025-06-25T20:45:53.945Z,1750884353.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:53.948Z,1750884353.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 240.893188 m,
      bearing: 237.861345 deg,
      approach rate: -0.770604 m/s,
      LOS rate: 0.003045 deg/s,
      cmd heading: 238.496983 deg,
      new cmd heading: 238.500305 deg.

2025-06-25T20:45:53.949Z,1750884353.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162616 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:54.101Z,1750884354.101 [DAT](INFO): DAT read: TxSync time:20:45:55.0368

2025-06-25T20:45:54.102Z,1750884354.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252279
2025-06-25T20:45:54.321Z,1750884354.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:54.324Z,1750884354.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 240.633560 m,
      bearing: 237.862412 deg,
      approach rate: -0.687704 m/s,
      LOS rate: 0.002829 deg/s,
      cmd heading: 238.500316 deg,
      new cmd heading: 238.503520 deg.

2025-06-25T20:45:54.325Z,1750884354.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162672 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:54.353Z,1750884354.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503400
2025-06-25T20:45:54.605Z,1750884354.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755366
2025-06-25T20:45:54.759Z,1750884354.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:54.762Z,1750884354.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 240.330719 m,
      bearing: 237.864896 deg,
      approach rate: -0.691210 m/s,
      LOS rate: 0.005677 deg/s,
      cmd heading: 238.503512 deg,
      new cmd heading: 238.510974 deg.

2025-06-25T20:45:54.763Z,1750884354.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162802 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:54.857Z,1750884354.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007754
2025-06-25T20:45:55.109Z,1750884355.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259414
2025-06-25T20:45:55.131Z,1750884355.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:55.134Z,1750884355.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 240.073685 m,
      bearing: 237.866983 deg,
      approach rate: -0.691151 m/s,
      LOS rate: 0.005618 deg/s,
      cmd heading: 238.510971 deg,
      new cmd heading: 238.517239 deg.

2025-06-25T20:45:55.135Z,1750884355.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162911 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:55.361Z,1750884355.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511897
2025-06-25T20:45:55.563Z,1750884355.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:55.571Z,1750884355.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:55.610Z,1750884355.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 239.786972 m,
      bearing: 237.869271 deg,
      approach rate: -0.654295 m/s,
      LOS rate: 0.005228 deg/s,
      cmd heading: 238.517227 deg,
      new cmd heading: 238.524099 deg.

2025-06-25T20:45:55.610Z,1750884355.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163031 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:55.613Z,1750884355.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763399
2025-06-25T20:45:55.865Z,1750884355.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015309
2025-06-25T20:45:55.962Z,1750884355.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:55.965Z,1750884355.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 239.495895 m,
      bearing: 237.871575 deg,
      approach rate: -0.741089 m/s,
      LOS rate: 0.005872 deg/s,
      cmd heading: 238.524112 deg,
      new cmd heading: 238.531031 deg.

2025-06-25T20:45:55.966Z,1750884355.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163152 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:56.117Z,1750884356.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267383
2025-06-25T20:45:56.355Z,1750884356.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:56.358Z,1750884356.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 239.221054 m,
      bearing: 237.873751 deg,
      approach rate: -0.699413 m/s,
      LOS rate: 0.005546 deg/s,
      cmd heading: 238.531024 deg,
      new cmd heading: 238.537562 deg.

2025-06-25T20:45:56.359Z,1750884356.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163266 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:56.369Z,1750884356.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519416
2025-06-25T20:45:56.622Z,1750884356.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772093
2025-06-25T20:45:56.624Z,1750884356.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:45:56.782Z,1750884356.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:56.785Z,1750884356.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 238.916763 m,
      bearing: 237.875942 deg,
      approach rate: -0.712939 m/s,
      LOS rate: 0.005139 deg/s,
      cmd heading: 238.537554 deg,
      new cmd heading: 238.544134 deg.

2025-06-25T20:45:56.786Z,1750884356.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163381 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:56.874Z,1750884356.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023871
2025-06-25T20:45:57.125Z,1750884357.125 [DAT](INFO): DAT read: Rx Time:20:45:57.7625

2025-06-25T20:45:57.125Z,1750884357.125 [DAT](INFO): Rx dataTimestamp_ set to:1750884357.125065
2025-06-25T20:45:57.126Z,1750884357.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276459
2025-06-25T20:45:57.152Z,1750884357.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:57.155Z,1750884357.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 238.652908 m,
      bearing: 237.877873 deg,
      approach rate: -0.713442 m/s,
      LOS rate: 0.005227 deg/s,
      cmd heading: 238.544138 deg,
      new cmd heading: 238.549937 deg.

2025-06-25T20:45:57.156Z,1750884357.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163482 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:57.377Z,1750884357.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527327
2025-06-25T20:45:57.591Z,1750884357.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:57.639Z,1750884357.639 [DAT](INFO): DAT read: 20:45:57.7625 LVL= 28912, 29841, 23410, 32755, AGC= 64, IDX= 400,-0.34,-3.028, 1.814,-3.094, 2.713, PHS= 0.631,-0.851, 0.474, RAW= 144.5,  -3.6, CAL= 149.4, -12.7, ROT=   0.6,  12.7

2025-06-25T20:45:57.641Z,1750884357.641 [DAT](INFO): got valid direction response:
 20:45:57.7625 LVL= 28912, 29841, 23410, 32755, AGC= 64, IDX= 400,-0.34,-3.028, 1.814,-3.094, 2.713, PHS= 0.631,-0.851, 0.474, RAW= 144.5,  -3.6, CAL= 149.4, -12.7, ROT=   0.6,  12.7

2025-06-25T20:45:57.642Z,1750884357.642 [DAT](INFO): DAT read: Bearing   0.6,  12.7 (Local)

2025-06-25T20:45:57.642Z,1750884357.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  12.7 (Local)

2025-06-25T20:45:57.645Z,1750884357.645 [DAT](INFO): DAT read: Range 10 to 50 : 240.5 m  (Round-trip  320.7 ms) speed  0.9 m/s

2025-06-25T20:45:57.646Z,1750884357.646 [DAT](INFO): DAT read: user:655>

2025-06-25T20:45:57.647Z,1750884357.647 [DAT](INFO): DAT read: Tx tim58.8876

2025-06-25T20:45:57.647Z,1750884357.647 [DAT](INFO): unknown deviceResponse_: Tx tim58.8876

2025-06-25T20:45:57.647Z,1750884357.647 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:45:57.649Z,1750884357.649 [DAT](INFO): direction in FSK: [0.975481,0.010216,-0.219846]
2025-06-25T20:45:57.649Z,1750884357.649 [DAT](INFO): publishing direction and range info
2025-06-25T20:45:57.653Z,1750884357.653 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:45:57.657Z,1750884357.657 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:45:57.657Z,1750884357.657 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:45:57.657Z,1750884357.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:45:57.664Z,1750884357.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.36 m.
2025-06-25T20:45:57.667Z,1750884357.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.362045 m,
      nav range: 238.355194 m,
      bearing: 237.880081 deg,
      approach rate: -0.627505 m/s,
      LOS rate: 0.004660 deg/s,
      cmd heading: 238.549930 deg,
      new cmd heading: 238.556563 deg.

2025-06-25T20:45:57.673Z,1750884357.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163598 target range: 243.362045 and range: 243.10 m.
2025-06-25T20:45:57.881Z,1750884357.881 [DAT](INFO): DAT read: TxSync time:20:45:58.8869

2025-06-25T20:45:57.882Z,1750884357.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032486
2025-06-25T20:45:58.009Z,1750884358.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.500000 m,
      deltaT: 4.030309 s,
      deltaX: -2.600006 m,
      approachRate: -0.645113 m/s,
      rangeRepo size: 4

2025-06-25T20:45:58.011Z,1750884358.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.211411 m,
      bearing: 240.240404 deg,
      lat: 36.906305 deg,
      lon: -122.116361 deg,
      deltaT: 7.813677 s,
      deltaX: -5.150635 m,
      approachRate: -0.659182 m/s,
      posRepo size: 4

2025-06-25T20:45:58.012Z,1750884358.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:45:58.015Z,1750884358.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 233.708450 m,
      bearing: 240.241257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004660 deg/s,
      cmd heading: 238.556569 deg,
      new cmd heading: 238.561916 deg.

2025-06-25T20:45:58.016Z,1750884358.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163691 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:45:58.133Z,1750884358.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283462
2025-06-25T20:45:58.363Z,1750884358.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:45:58.370Z,1750884358.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 233.451080 m,
      bearing: 240.244963 deg,
      approach rate: -0.725875 m/s,
      LOS rate: 0.010463 deg/s,
      cmd heading: 238.561924 deg,
      new cmd heading: 238.573053 deg.

2025-06-25T20:45:58.372Z,1750884358.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163885 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:45:58.385Z,1750884358.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535464
2025-06-25T20:45:58.637Z,1750884358.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788058
2025-06-25T20:45:58.793Z,1750884358.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:45:58.796Z,1750884358.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 233.140671 m,
      bearing: 240.249753 deg,
      approach rate: -0.722225 m/s,
      LOS rate: 0.011161 deg/s,
      cmd heading: 238.573044 deg,
      new cmd heading: 238.587434 deg.

2025-06-25T20:45:58.797Z,1750884358.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164136 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:45:58.889Z,1750884358.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039601
2025-06-25T20:45:59.141Z,1750884359.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291275
2025-06-25T20:45:59.184Z,1750884359.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:45:59.187Z,1750884359.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 232.858322 m,
      bearing: 240.254194 deg,
      approach rate: -0.722746 m/s,
      LOS rate: 0.011382 deg/s,
      cmd heading: 238.587442 deg,
      new cmd heading: 238.600781 deg.

2025-06-25T20:45:59.188Z,1750884359.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164369 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:45:59.393Z,1750884359.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543601
2025-06-25T20:45:59.599Z,1750884359.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:45:59.615Z,1750884359.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:45:59.638Z,1750884359.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 232.572815 m,
      bearing: 240.258700 deg,
      approach rate: -0.662980 m/s,
      LOS rate: 0.010475 deg/s,
      cmd heading: 238.600774 deg,
      new cmd heading: 238.614307 deg.

2025-06-25T20:45:59.649Z,1750884359.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799604
2025-06-25T20:45:59.658Z,1750884359.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164605 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:45:59.897Z,1750884359.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047353
2025-06-25T20:46:00.020Z,1750884360.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:46:00.023Z,1750884360.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 232.262726 m,
      bearing: 240.263738 deg,
      approach rate: -0.764942 m/s,
      LOS rate: 0.012445 deg/s,
      cmd heading: 238.614298 deg,
      new cmd heading: 238.629433 deg.

2025-06-25T20:46:00.024Z,1750884360.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164869 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:46:00.149Z,1750884360.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299499
2025-06-25T20:46:00.380Z,1750884360.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:46:00.382Z,1750884360.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 232.009521 m,
      bearing: 240.267687 deg,
      approach rate: -0.703873 m/s,
      LOS rate: 0.010991 deg/s,
      cmd heading: 238.629434 deg,
      new cmd heading: 238.641294 deg.

2025-06-25T20:46:00.383Z,1750884360.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165076 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:46:00.401Z,1750884360.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551407
2025-06-25T20:46:00.658Z,1750884360.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808059
2025-06-25T20:46:00.813Z,1750884360.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:46:00.817Z,1750884360.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 231.702240 m,
      bearing: 240.272790 deg,
      approach rate: -0.708858 m/s,
      LOS rate: 0.011786 deg/s,
      cmd heading: 238.641291 deg,
      new cmd heading: 238.656618 deg.

2025-06-25T20:46:00.819Z,1750884360.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165344 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:46:00.905Z,1750884360.905 [DAT](INFO): DAT read: Rx Time:20:46:01.6087

2025-06-25T20:46:00.906Z,1750884360.906 [DAT](INFO): Rx dataTimestamp_ set to:1750884360.905863
2025-06-25T20:46:00.907Z,1750884360.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057561
2025-06-25T20:46:01.157Z,1750884361.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307284
2025-06-25T20:46:01.217Z,1750884361.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.21 m.
2025-06-25T20:46:01.219Z,1750884361.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.211411 m,
      nav range: 231.419968 m,
      bearing: 240.277510 deg,
      approach rate: -0.699132 m/s,
      LOS rate: 0.011705 deg/s,
      cmd heading: 238.656618 deg,
      new cmd heading: 238.670795 deg.

2025-06-25T20:46:01.225Z,1750884361.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165591 target range: 238.211411 and range: 240.50 m.
2025-06-25T20:46:01.415Z,1750884361.415 [DAT](INFO): DAT read: 20:46:01.6087 LVL= 20128, 28465, 17698, 31427, AGC= 68, IDX= 410,-0.48, 0.051,-1.336,-0.028,-0.466, PHS= 0.605,-0.822, 0.435, RAW= 143.7,  -3.3, CAL= 148.7, -12.4, ROT=   1.3,  12.4

2025-06-25T20:46:01.416Z,1750884361.416 [DAT](INFO): got valid direction response:
 20:46:01.6087 LVL= 20128, 28465, 17698, 31427, AGC= 68, IDX= 410,-0.48, 0.051,-1.336,-0.028,-0.466, PHS= 0.605,-0.822, 0.435, RAW= 143.7,  -3.3, CAL= 148.7, -12.4, ROT=   1.3,  12.4

2025-06-25T20:46:01.417Z,1750884361.417 [DAT](INFO): DAT read: Bearing   1.3,  12.4 (Local)

2025-06-25T20:46:01.417Z,1750884361.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  12.4 (Local)

2025-06-25T20:46:01.419Z,1750884361.419 [DAT](INFO): DAT read: Range 10 to 50 : 237.6 m  (Round-trip  316.9 ms) speed  0.6 m/s

2025-06-25T20:46:01.419Z,1750884361.419 [DAT](INFO): DAT read: user:656>

2025-06-25T20:46:01.425Z,1750884361.425 [DAT](INFO): DAT read: Tx time:20:46:02.6876

2025-06-25T20:46:01.425Z,1750884361.425 [DAT](INFO): Ping request sent.
2025-06-25T20:46:01.425Z,1750884361.425 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:01.425Z,1750884361.425 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:01.426Z,1750884361.426 [DAT](INFO): direction in FSK: [0.976421,0.022158,-0.214735]
2025-06-25T20:46:01.427Z,1750884361.427 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:01.427Z,1750884361.427 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:01.431Z,1750884361.431 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:01.431Z,1750884361.431 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:01.657Z,1750884361.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.600006 m,
      deltaT: 3.778294 s,
      deltaX: -2.899994 m,
      approachRate: -0.767541 m/s,
      rangeRepo size: 4

2025-06-25T20:46:01.664Z,1750884361.664 [DAT](INFO): DAT read: TxSync time:20:46:02.6869

2025-06-25T20:46:01.679Z,1750884361.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 235.339188 m,
      bearing: 240.831625 deg,
      lat: 36.906310 deg,
      lon: -122.116361 deg,
      deltaT: 3.778294 s,
      deltaX: -2.872223 m,
      approachRate: -0.760190 m/s,
      posRepo size: 4

2025-06-25T20:46:01.686Z,1750884361.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:01.694Z,1750884361.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 230.843155 m,
      bearing: 240.412492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011705 deg/s,
      cmd heading: 238.670797 deg,
      new cmd heading: 238.685800 deg.

2025-06-25T20:46:01.695Z,1750884361.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165853 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:02.031Z,1750884362.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:02.033Z,1750884362.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:02.036Z,1750884362.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 230.538803 m,
      bearing: 240.418729 deg,
      approach rate: -0.782331 m/s,
      LOS rate: 0.016053 deg/s,
      cmd heading: 238.685796 deg,
      new cmd heading: 238.704532 deg.

2025-06-25T20:46:02.037Z,1750884362.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166180 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:02.165Z,1750884362.165 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:02.165Z,1750884362.165 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:02.165Z,1750884362.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:02.417Z,1750884362.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991676
2025-06-25T20:46:02.418Z,1750884362.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:02.425Z,1750884362.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 230.280960 m,
      bearing: 240.423942 deg,
      approach rate: -0.673209 m/s,
      LOS rate: 0.013627 deg/s,
      cmd heading: 238.704538 deg,
      new cmd heading: 238.720196 deg.

2025-06-25T20:46:02.426Z,1750884362.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166453 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:02.676Z,1750884362.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250356
2025-06-25T20:46:02.823Z,1750884362.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:02.826Z,1750884362.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 229.986313 m,
      bearing: 240.430978 deg,
      approach rate: -0.723283 m/s,
      LOS rate: 0.017293 deg/s,
      cmd heading: 238.720193 deg,
      new cmd heading: 238.741328 deg.

2025-06-25T20:46:02.827Z,1750884362.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166822 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:02.921Z,1750884362.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495768
2025-06-25T20:46:03.173Z,1750884363.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747548
2025-06-25T20:46:03.219Z,1750884363.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:03.222Z,1750884363.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 229.711136 m,
      bearing: 240.437473 deg,
      approach rate: -0.695402 m/s,
      LOS rate: 0.016435 deg/s,
      cmd heading: 238.741339 deg,
      new cmd heading: 238.760850 deg.

2025-06-25T20:46:03.223Z,1750884363.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167163 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:03.428Z,1750884363.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002375
2025-06-25T20:46:03.627Z,1750884363.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:03.631Z,1750884363.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 229.435425 m,
      bearing: 240.443949 deg,
      approach rate: -0.675749 m/s,
      LOS rate: 0.015889 deg/s,
      cmd heading: 238.760846 deg,
      new cmd heading: 238.780295 deg.

2025-06-25T20:46:03.634Z,1750884363.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167502 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:03.682Z,1750884363.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256487
2025-06-25T20:46:03.933Z,1750884363.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507666
2025-06-25T20:46:04.057Z,1750884364.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:04.059Z,1750884364.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:04.066Z,1750884364.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 229.134186 m,
      bearing: 240.451504 deg,
      approach rate: -0.698082 m/s,
      LOS rate: 0.017531 deg/s,
      cmd heading: 238.780299 deg,
      new cmd heading: 238.802993 deg.

2025-06-25T20:46:04.066Z,1750884364.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167899 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:04.185Z,1750884364.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759814
2025-06-25T20:46:04.430Z,1750884364.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:04.433Z,1750884364.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 228.875381 m,
      bearing: 240.458003 deg,
      approach rate: -0.697787 m/s,
      LOS rate: 0.017542 deg/s,
      cmd heading: 238.803002 deg,
      new cmd heading: 238.822521 deg.

2025-06-25T20:46:04.433Z,1750884364.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168239 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:04.437Z,1750884364.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011759
2025-06-25T20:46:04.692Z,1750884364.692 [DAT](INFO): DAT read: Rx Time:20:46:05.4050

2025-06-25T20:46:04.693Z,1750884364.693 [DAT](INFO): Rx dataTimestamp_ set to:1750884364.692407
2025-06-25T20:46:04.695Z,1750884364.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269358
2025-06-25T20:46:04.866Z,1750884364.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.34 m.
2025-06-25T20:46:04.873Z,1750884364.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.339188 m,
      nav range: 228.581589 m,
      bearing: 240.465241 deg,
      approach rate: -0.672639 m/s,
      LOS rate: 0.016594 deg/s,
      cmd heading: 238.822509 deg,
      new cmd heading: 238.844254 deg.

2025-06-25T20:46:04.874Z,1750884364.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168619 target range: 235.339188 and range: 237.60 m.
2025-06-25T20:46:04.941Z,1750884364.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516070
2025-06-25T20:46:05.199Z,1750884365.199 [DAT](INFO): DAT read: 20:46:05.4050 LVL= 26320, 27633, 22370, 32755, AGC= 70, IDX= 403, 0.38,-1.035,-2.368,-1.188,-1.621, PHS= 0.673,-0.700, 0.430, RAW= 140.4,  -6.4, CAL= 146.4, -16.0, ROT=   3.6,  16.0

2025-06-25T20:46:05.204Z,1750884365.204 [DAT](INFO): got valid direction response:
 20:46:05.4050 LVL= 26320, 27633, 22370, 32755, AGC= 70, IDX= 403, 0.38,-1.035,-2.368,-1.188,-1.621, PHS= 0.673,-0.700, 0.430, RAW= 140.4,  -6.4, CAL= 146.4, -16.0, ROT=   3.6,  16.0

2025-06-25T20:46:05.205Z,1750884365.205 [DAT](INFO): DAT read: Bearing   3.6,  16.0 (Local)

2025-06-25T20:46:05.206Z,1750884365.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,  16.0 (Local)

2025-06-25T20:46:05.207Z,1750884365.207 [DAT](INFO): DAT read: Range 10 to 50 : 234.9 m  (Round-trip  313.2 ms) speed  0.4 m/s

2025-06-25T20:46:05.217Z,1750884365.217 [DAT](INFO): DAT read: user:657>

2025-06-25T20:46:05.217Z,1750884365.217 [DAT](INFO): DAT read: Tx time:20:46:06.4876

2025-06-25T20:46:05.218Z,1750884365.218 [DAT](INFO): Ping request sent.
2025-06-25T20:46:05.218Z,1750884365.218 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:05.218Z,1750884365.218 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:05.219Z,1750884365.219 [DAT](INFO): direction in FSK: [0.959365,0.060358,-0.275637]
2025-06-25T20:46:05.219Z,1750884365.219 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:05.220Z,1750884365.220 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:05.223Z,1750884365.223 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:05.223Z,1750884365.223 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:05.343Z,1750884365.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.899994 m,
      deltaT: 3.783971 s,
      deltaX: -2.700012 m,
      approachRate: -0.713539 m/s,
      rangeRepo size: 4

2025-06-25T20:46:05.351Z,1750884365.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.664871 m,
      bearing: 243.641421 deg,
      lat: 36.906310 deg,
      lon: -122.116369 deg,
      deltaT: 3.783971 s,
      deltaX: -2.674316 m,
      approachRate: -0.706749 m/s,
      posRepo size: 4

2025-06-25T20:46:05.356Z,1750884365.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:05.365Z,1750884365.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 228.903198 m,
      bearing: 240.562038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016594 deg/s,
      cmd heading: 238.844257 deg,
      new cmd heading: 238.867235 deg.

2025-06-25T20:46:05.365Z,1750884365.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169020 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:05.446Z,1750884365.446 [DAT](INFO): DAT read: TxSync time:20:46:06.4869

2025-06-25T20:46:05.661Z,1750884365.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:05.690Z,1750884365.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 228.643250 m,
      bearing: 240.568565 deg,
      approach rate: -0.792778 m/s,
      LOS rate: 0.019929 deg/s,
      cmd heading: 238.867233 deg,
      new cmd heading: 238.886837 deg.

2025-06-25T20:46:05.702Z,1750884365.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169362 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:06.061Z,1750884366.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:06.063Z,1750884366.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:06.082Z,1750884366.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 228.354843 m,
      bearing: 240.575649 deg,
      approach rate: -0.708770 m/s,
      LOS rate: 0.017431 deg/s,
      cmd heading: 238.886850 deg,
      new cmd heading: 238.908128 deg.

2025-06-25T20:46:06.083Z,1750884366.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169734 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:06.201Z,1750884366.201 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:06.201Z,1750884366.201 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:06.201Z,1750884366.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:06.451Z,1750884366.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:06.453Z,1750884366.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235042
2025-06-25T20:46:06.458Z,1750884366.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 228.082077 m,
      bearing: 240.582373 deg,
      approach rate: -0.702855 m/s,
      LOS rate: 0.017347 deg/s,
      cmd heading: 238.908133 deg,
      new cmd heading: 238.928329 deg.

2025-06-25T20:46:06.460Z,1750884366.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170086 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:06.709Z,1750884366.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490452
2025-06-25T20:46:06.892Z,1750884366.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:06.895Z,1750884366.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 227.787308 m,
      bearing: 240.588322 deg,
      approach rate: -0.707059 m/s,
      LOS rate: 0.014289 deg/s,
      cmd heading: 238.928323 deg,
      new cmd heading: 238.946193 deg.

2025-06-25T20:46:06.895Z,1750884366.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170398 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:06.957Z,1750884366.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739627
2025-06-25T20:46:07.209Z,1750884367.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990834
2025-06-25T20:46:07.276Z,1750884367.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:07.279Z,1750884367.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 227.510117 m,
      bearing: 240.593905 deg,
      approach rate: -0.706626 m/s,
      LOS rate: 0.014250 deg/s,
      cmd heading: 238.946190 deg,
      new cmd heading: 238.962960 deg.

2025-06-25T20:46:07.284Z,1750884367.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170691 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:07.461Z,1750884367.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242916
2025-06-25T20:46:07.670Z,1750884367.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:07.675Z,1750884367.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 227.222595 m,
      bearing: 240.599703 deg,
      approach rate: -0.701564 m/s,
      LOS rate: 0.014165 deg/s,
      cmd heading: 238.962965 deg,
      new cmd heading: 238.980381 deg.

2025-06-25T20:46:07.677Z,1750884367.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170994 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:07.717Z,1750884367.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497784
2025-06-25T20:46:07.965Z,1750884367.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746869
2025-06-25T20:46:08.094Z,1750884368.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:08.101Z,1750884368.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:08.104Z,1750884368.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 226.928238 m,
      bearing: 240.605058 deg,
      approach rate: -0.682542 m/s,
      LOS rate: 0.012435 deg/s,
      cmd heading: 238.980369 deg,
      new cmd heading: 238.996456 deg.

2025-06-25T20:46:08.105Z,1750884368.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171275 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:08.217Z,1750884368.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999001
2025-06-25T20:46:08.469Z,1750884368.469 [DAT](INFO): DAT read: Rx Time:20:46:09.2018

2025-06-25T20:46:08.469Z,1750884368.469 [DAT](INFO): Rx dataTimestamp_ set to:1750884368.469063
2025-06-25T20:46:08.470Z,1750884368.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252025
2025-06-25T20:46:08.479Z,1750884368.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:08.482Z,1750884368.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 226.665497 m,
      bearing: 240.609898 deg,
      approach rate: -0.695027 m/s,
      LOS rate: 0.012816 deg/s,
      cmd heading: 238.996461 deg,
      new cmd heading: 239.010995 deg.

2025-06-25T20:46:08.483Z,1750884368.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171529 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:08.725Z,1750884368.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506090
2025-06-25T20:46:08.961Z,1750884368.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.66 m.
2025-06-25T20:46:08.968Z,1750884368.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.664871 m,
      nav range: 226.338501 m,
      bearing: 240.615432 deg,
      approach rate: -0.678665 m/s,
      LOS rate: 0.011502 deg/s,
      cmd heading: 239.010995 deg,
      new cmd heading: 239.027622 deg.

2025-06-25T20:46:08.979Z,1750884368.979 [DAT](INFO): DAT read: 20:46:09.2018 LVL= 29168, 32753, 27826, 32755, AGC= 66, IDX= 402, 0.11,-1.087,-2.481,-1.117,-1.577, PHS= 0.578,-0.857, 0.458, RAW= 145.7,  -2.6, CAL= 150.2, -11.6, ROT= 359.8,  11.6

2025-06-25T20:46:08.980Z,1750884368.980 [DAT](INFO): got valid direction response:
 20:46:09.2018 LVL= 29168, 32753, 27826, 32755, AGC= 66, IDX= 402, 0.11,-1.087,-2.481,-1.117,-1.577, PHS= 0.578,-0.857, 0.458, RAW= 145.7,  -2.6, CAL= 150.2, -11.6, ROT= 359.8,  11.6

2025-06-25T20:46:08.981Z,1750884368.981 [DAT](INFO): DAT read: Bearing 359.8,  11.6 (Local)

2025-06-25T20:46:08.981Z,1750884368.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  11.6 (Local)

2025-06-25T20:46:08.983Z,1750884368.983 [DAT](INFO): DAT read: Range 10 to 50 : 232.4 m  (Round-trip  309.9 ms) speed  0.8 m/s

2025-06-25T20:46:08.984Z,1750884368.984 [DAT](INFO): DAT read: user:658>

2025-06-25T20:46:08.985Z,1750884368.985 [DAT](INFO): DAT read: Tx time:20:46:10.2877

2025-06-25T20:46:08.985Z,1750884368.985 [DAT](INFO): Ping request sent.
2025-06-25T20:46:08.985Z,1750884368.985 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:08.985Z,1750884368.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:08.986Z,1750884368.986 [DAT](INFO): direction in FSK: [0.979569,-0.003419,-0.201078]
2025-06-25T20:46:08.987Z,1750884368.987 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:08.987Z,1750884368.987 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:08.990Z,1750884368.990 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:08.990Z,1750884368.990 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:08.993Z,1750884368.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171819 target range: 232.664871 and range: 234.90 m.
2025-06-25T20:46:09.230Z,1750884369.230 [DAT](INFO): DAT read: TxSync time:20:46:10.2870

2025-06-25T20:46:09.293Z,1750884369.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.399994 m,
      deltaT: 3.780100 s,
      deltaX: -2.500000 m,
      approachRate: -0.661358 m/s,
      rangeRepo size: 4

2025-06-25T20:46:09.295Z,1750884369.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.188828 m,
      bearing: 239.260929 deg,
      lat: 36.906310 deg,
      lon: -122.116369 deg,
      deltaT: 3.780100 s,
      deltaX: -2.476044 m,
      approachRate: -0.655021 m/s,
      posRepo size: 4

2025-06-25T20:46:09.296Z,1750884369.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:09.299Z,1750884369.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 226.107071 m,
      bearing: 240.619387 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011502 deg/s,
      cmd heading: 239.027634 deg,
      new cmd heading: 239.039074 deg.

2025-06-25T20:46:09.300Z,1750884369.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172019 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:09.689Z,1750884369.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:09.691Z,1750884369.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 225.831360 m,
      bearing: 240.624223 deg,
      approach rate: -0.697775 m/s,
      LOS rate: 0.012255 deg/s,
      cmd heading: 239.039081 deg,
      new cmd heading: 239.053608 deg.

2025-06-25T20:46:09.693Z,1750884369.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172273 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:10.102Z,1750884370.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:10.109Z,1750884370.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:10.111Z,1750884370.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 225.554703 m,
      bearing: 240.628379 deg,
      approach rate: -0.664714 m/s,
      LOS rate: 0.009999 deg/s,
      cmd heading: 239.053616 deg,
      new cmd heading: 239.066100 deg.

2025-06-25T20:46:10.112Z,1750884370.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172491 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:10.237Z,1750884370.237 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:10.237Z,1750884370.237 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:10.237Z,1750884370.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:10.486Z,1750884370.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:10.489Z,1750884370.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503872
2025-06-25T20:46:10.490Z,1750884370.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 225.300018 m,
      bearing: 240.632284 deg,
      approach rate: -0.666284 m/s,
      LOS rate: 0.010226 deg/s,
      cmd heading: 239.066101 deg,
      new cmd heading: 239.077828 deg.

2025-06-25T20:46:10.491Z,1750884370.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172695 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:10.749Z,1750884370.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763472
2025-06-25T20:46:10.924Z,1750884370.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:10.927Z,1750884370.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 225.009460 m,
      bearing: 240.636323 deg,
      approach rate: -0.663432 m/s,
      LOS rate: 0.009235 deg/s,
      cmd heading: 239.077822 deg,
      new cmd heading: 239.089956 deg.

2025-06-25T20:46:10.928Z,1750884370.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172907 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:11.001Z,1750884371.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015597
2025-06-25T20:46:11.249Z,1750884371.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263760
2025-06-25T20:46:11.291Z,1750884371.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:11.302Z,1750884371.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 224.765717 m,
      bearing: 240.639714 deg,
      approach rate: -0.663716 m/s,
      LOS rate: 0.009242 deg/s,
      cmd heading: 239.089952 deg,
      new cmd heading: 239.100135 deg.

2025-06-25T20:46:11.303Z,1750884371.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173085 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:11.504Z,1750884371.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518527
2025-06-25T20:46:11.710Z,1750884371.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:11.713Z,1750884371.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 224.488770 m,
      bearing: 240.643424 deg,
      approach rate: -0.661714 m/s,
      LOS rate: 0.008876 deg/s,
      cmd heading: 239.100143 deg,
      new cmd heading: 239.111287 deg.

2025-06-25T20:46:11.714Z,1750884371.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173279 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:11.755Z,1750884371.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769699
2025-06-25T20:46:12.005Z,1750884372.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019715
2025-06-25T20:46:12.160Z,1750884372.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:12.162Z,1750884372.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:12.165Z,1750884372.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 224.190964 m,
      bearing: 240.647589 deg,
      approach rate: -0.658559 m/s,
      LOS rate: 0.009222 deg/s,
      cmd heading: 239.111290 deg,
      new cmd heading: 239.123800 deg.

2025-06-25T20:46:12.166Z,1750884372.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173498 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:12.257Z,1750884372.257 [DAT](INFO): DAT read: Rx Time:20:46:13.0419

2025-06-25T20:46:12.257Z,1750884372.257 [DAT](INFO): Rx dataTimestamp_ set to:1750884372.257128
2025-06-25T20:46:12.258Z,1750884372.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272887
2025-06-25T20:46:12.510Z,1750884372.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524771
2025-06-25T20:46:12.552Z,1750884372.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:12.554Z,1750884372.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 223.950165 m,
      bearing: 240.650802 deg,
      approach rate: -0.624368 m/s,
      LOS rate: 0.008342 deg/s,
      cmd heading: 239.123803 deg,
      new cmd heading: 239.133454 deg.

2025-06-25T20:46:12.555Z,1750884372.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173666 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:12.780Z,1750884372.780 [DAT](INFO): DAT read: 20:46:13.0419 LVL= 25888, 32753, 22898, 32755, AGC= 68, IDX= 110, 0.29, 2.925, 1.586, 2.863, 2.402, PHS= 0.611,-0.769, 0.458, RAW= 144.2,  -4.6, CAL= 149.5, -13.7, ROT=   0.5,  13.7

2025-06-25T20:46:12.785Z,1750884372.785 [DAT](INFO): got valid direction response:
 20:46:13.0419 LVL= 25888, 32753, 22898, 32755, AGC= 68, IDX= 110, 0.29, 2.925, 1.586, 2.863, 2.402, PHS= 0.611,-0.769, 0.458, RAW= 144.2,  -4.6, CAL= 149.5, -13.7, ROT=   0.5,  13.7

2025-06-25T20:46:12.788Z,1750884372.788 [DAT](INFO): DAT read: Bearing   0.5,  13.7 (Local)

2025-06-25T20:46:12.789Z,1750884372.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  13.7 (Local)

2025-06-25T20:46:12.795Z,1750884372.795 [DAT](INFO): DAT read: Range 10 to 50 : 262.5 m  (Round-trip  350.0 ms) speed  0.7 m/s

2025-06-25T20:46:12.799Z,1750884372.799 [DAT](INFO): DAT read: user:659>

2025-06-25T20:46:12.803Z,1750884372.803 [DAT](INFO): DAT read: Tx time:20:46:14.1377

2025-06-25T20:46:12.806Z,1750884372.806 [DAT](INFO): Ping request sent.
2025-06-25T20:46:12.807Z,1750884372.807 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:12.846Z,1750884372.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:12.847Z,1750884372.847 [DAT](INFO): direction in FSK: [0.971512,0.008478,-0.236838]
2025-06-25T20:46:12.853Z,1750884372.853 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:12.853Z,1750884372.853 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:12.858Z,1750884372.858 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:12.858Z,1750884372.858 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:12.999Z,1750884372.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 262.500000 m,
 deltaT: 3.789094 s,
 deltaX: 30.100006 m,
 approachRate: 7.943853 m/s,
 rangeRepo size: 4
2025-06-25T20:46:12.999Z,1750884372.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:13.011Z,1750884373.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 223.653763 m,
      bearing: 240.655961 deg,
      approach rate: -0.657861 m/s,
      LOS rate: 0.011464 deg/s,
      cmd heading: 239.133447 deg,
      new cmd heading: 239.148943 deg.

2025-06-25T20:46:13.013Z,1750884373.013 [DAT](INFO): DAT read: TxSync time:20:46:14.1370

2025-06-25T20:46:13.016Z,1750884373.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173936 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:13.315Z,1750884373.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:13.318Z,1750884373.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 223.427917 m,
      bearing: 240.659778 deg,
      approach rate: -0.712529 m/s,
      LOS rate: 0.012054 deg/s,
      cmd heading: 239.148938 deg,
      new cmd heading: 239.160400 deg.

2025-06-25T20:46:13.319Z,1750884373.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174137 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:13.715Z,1750884373.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:13.719Z,1750884373.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 223.162537 m,
      bearing: 240.664309 deg,
      approach rate: -0.663000 m/s,
      LOS rate: 0.011334 deg/s,
      cmd heading: 239.160413 deg,
      new cmd heading: 239.174023 deg.

2025-06-25T20:46:13.720Z,1750884373.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174374 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:14.150Z,1750884374.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:14.153Z,1750884374.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 222.873108 m,
      bearing: 240.668662 deg,
      approach rate: -0.666029 m/s,
      LOS rate: 0.010031 deg/s,
      cmd heading: 239.174018 deg,
      new cmd heading: 239.187095 deg.

2025-06-25T20:46:14.157Z,1750884374.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174603 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:14.525Z,1750884374.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:14.527Z,1750884374.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:14.530Z,1750884374.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 222.622879 m,
      bearing: 240.672384 deg,
      approach rate: -0.664051 m/s,
      LOS rate: 0.009886 deg/s,
      cmd heading: 239.187105 deg,
      new cmd heading: 239.198281 deg.

2025-06-25T20:46:14.531Z,1750884374.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174798 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:14.777Z,1750884374.777 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:14.777Z,1750884374.777 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:14.777Z,1750884374.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:14.982Z,1750884374.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:14.985Z,1750884374.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 222.311401 m,
      bearing: 240.677330 deg,
      approach rate: -0.684051 m/s,
      LOS rate: 0.010878 deg/s,
      cmd heading: 239.198279 deg,
      new cmd heading: 239.213139 deg.

2025-06-25T20:46:14.986Z,1750884374.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175057 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:15.029Z,1750884375.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223008
2025-06-25T20:46:15.281Z,1750884375.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474478
2025-06-25T20:46:15.349Z,1750884375.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:15.356Z,1750884375.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 222.071960 m,
      bearing: 240.680988 deg,
      approach rate: -0.652564 m/s,
      LOS rate: 0.009980 deg/s,
      cmd heading: 239.213142 deg,
      new cmd heading: 239.224127 deg.

2025-06-25T20:46:15.357Z,1750884375.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175249 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:15.533Z,1750884375.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726676
2025-06-25T20:46:15.742Z,1750884375.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:15.745Z,1750884375.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 221.796173 m,
      bearing: 240.685153 deg,
      approach rate: -0.701280 m/s,
      LOS rate: 0.010604 deg/s,
      cmd heading: 239.224125 deg,
      new cmd heading: 239.236635 deg.

2025-06-25T20:46:15.746Z,1750884375.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175467 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:15.785Z,1750884375.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978767
2025-06-25T20:46:16.037Z,1750884376.037 [DAT](INFO): DAT read: Rx Time:20:46:16.8446

2025-06-25T20:46:16.037Z,1750884376.037 [DAT](INFO): Rx dataTimestamp_ set to:1750884376.036993
2025-06-25T20:46:16.038Z,1750884376.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231632
2025-06-25T20:46:16.177Z,1750884376.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:16.180Z,1750884376.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 221.485962 m,
      bearing: 240.689921 deg,
      approach rate: -0.713373 m/s,
      LOS rate: 0.010980 deg/s,
      cmd heading: 239.236637 deg,
      new cmd heading: 239.250961 deg.

2025-06-25T20:46:16.181Z,1750884376.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175717 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:16.289Z,1750884376.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483113
2025-06-25T20:46:16.544Z,1750884376.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737141
2025-06-25T20:46:16.598Z,1750884376.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:16.600Z,1750884376.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.19 m.
2025-06-25T20:46:16.603Z,1750884376.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.188828 m,
      nav range: 221.187897 m,
      bearing: 240.694442 deg,
      approach rate: -0.704143 m/s,
      LOS rate: 0.010695 deg/s,
      cmd heading: 239.250953 deg,
      new cmd heading: 239.264535 deg.

2025-06-25T20:46:16.604Z,1750884376.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175954 target range: 230.188828 and range: 232.40 m.
2025-06-25T20:46:16.799Z,1750884376.799 [DAT](INFO): DAT read: 20:46:16.8446 LVL= 32288, 32753, 29410, 32755, AGC= 65, IDX= 472,-0.14,-3.091, 1.828,-3.116, 2.721, PHS= 0.559,-0.846, 0.443, RAW= 145.7,  -2.4, CAL= 150.2, -11.4, ROT= 359.8,  11.4

2025-06-25T20:46:16.805Z,1750884376.805 [DAT](INFO): got valid direction response:
 20:46:16.8446 LVL= 32288, 32753, 29410, 32755, AGC= 65, IDX= 472,-0.14,-3.091, 1.828,-3.116, 2.721, PHS= 0.559,-0.846, 0.443, RAW= 145.7,  -2.4, CAL= 150.2, -11.4, ROT= 359.8,  11.4

2025-06-25T20:46:16.808Z,1750884376.808 [DAT](INFO): DAT read: Bearing 359.8,  11.4 (Local)

2025-06-25T20:46:16.808Z,1750884376.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  11.4 (Local)

2025-06-25T20:46:16.810Z,1750884376.810 [DAT](INFO): DAT read: Range 10 to 50 : 227.0 m  (Round-trip  302.7 ms) speed  0.8 m/s

2025-06-25T20:46:16.811Z,1750884376.811 [DAT](INFO): DAT read: user:660>

2025-06-25T20:46:16.812Z,1750884376.812 [DAT](INFO): DAT read: Tx time:20:46:17.9377

2025-06-25T20:46:16.813Z,1750884376.813 [DAT](INFO): Ping request sent.
2025-06-25T20:46:16.814Z,1750884376.814 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:16.815Z,1750884376.815 [DAT](INFO): DAT read: TxSync time:20:46:17.9370

2025-06-25T20:46:16.818Z,1750884376.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:16.819Z,1750884376.819 [DAT](INFO): direction in FSK: [0.980265,-0.003422,-0.197657]
2025-06-25T20:46:16.819Z,1750884376.819 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:16.820Z,1750884376.820 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:16.826Z,1750884376.826 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:16.827Z,1750884376.827 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:17.066Z,1750884377.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.000000 m,
      deltaT: 7.820049 s,
      deltaX: -5.399994 m,
      approachRate: -0.690532 m/s,
      rangeRepo size: 4

2025-06-25T20:46:17.072Z,1750884377.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.839554 m,
      bearing: 240.230183 deg,
      lat: 36.906293 deg,
      lon: -122.116373 deg,
      deltaT: 7.820049 s,
      deltaX: -5.349274 m,
      approachRate: -0.684046 m/s,
      posRepo size: 4

2025-06-25T20:46:17.073Z,1750884377.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:17.080Z,1750884377.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 222.163239 m,
      bearing: 240.313849 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010695 deg/s,
      cmd heading: 239.264532 deg,
      new cmd heading: 239.279451 deg.

2025-06-25T20:46:17.081Z,1750884377.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176214 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:17.369Z,1750884377.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:17.372Z,1750884377.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 221.935059 m,
      bearing: 240.317106 deg,
      approach rate: -0.751116 m/s,
      LOS rate: 0.010735 deg/s,
      cmd heading: 239.279449 deg,
      new cmd heading: 239.289232 deg.

2025-06-25T20:46:17.373Z,1750884377.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176385 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:17.796Z,1750884377.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:17.799Z,1750884377.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 221.631042 m,
      bearing: 240.321500 deg,
      approach rate: -0.712345 m/s,
      LOS rate: 0.010310 deg/s,
      cmd heading: 239.289230 deg,
      new cmd heading: 239.302430 deg.

2025-06-25T20:46:17.801Z,1750884377.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176615 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:18.204Z,1750884378.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:18.206Z,1750884378.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 221.338181 m,
      bearing: 240.326211 deg,
      approach rate: -0.718607 m/s,
      LOS rate: 0.011573 deg/s,
      cmd heading: 239.302426 deg,
      new cmd heading: 239.316576 deg.

2025-06-25T20:46:18.207Z,1750884378.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176862 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:18.577Z,1750884378.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:18.580Z,1750884378.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 221.069229 m,
      bearing: 240.330528 deg,
      approach rate: -0.719387 m/s,
      LOS rate: 0.011562 deg/s,
      cmd heading: 239.316578 deg,
      new cmd heading: 239.329546 deg.

2025-06-25T20:46:18.581Z,1750884378.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177089 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:19.010Z,1750884379.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:19.012Z,1750884379.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:19.015Z,1750884379.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 220.756760 m,
      bearing: 240.335854 deg,
      approach rate: -0.719051 m/s,
      LOS rate: 0.012274 deg/s,
      cmd heading: 239.329555 deg,
      new cmd heading: 239.345556 deg.

2025-06-25T20:46:19.016Z,1750884379.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177368 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:19.061Z,1750884379.061 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:19.062Z,1750884379.062 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:19.062Z,1750884379.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:19.313Z,1750884379.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499548
2025-06-25T20:46:19.386Z,1750884379.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:19.389Z,1750884379.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 220.487091 m,
      bearing: 240.340330 deg,
      approach rate: -0.721297 m/s,
      LOS rate: 0.011987 deg/s,
      cmd heading: 239.345565 deg,
      new cmd heading: 239.359010 deg.

2025-06-25T20:46:19.390Z,1750884379.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177603 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:19.565Z,1750884379.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751608
2025-06-25T20:46:19.812Z,1750884379.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:19.815Z,1750884379.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 220.183228 m,
      bearing: 240.345387 deg,
      approach rate: -0.713286 m/s,
      LOS rate: 0.011887 deg/s,
      cmd heading: 239.359007 deg,
      new cmd heading: 239.374199 deg.

2025-06-25T20:46:19.817Z,1750884379.817 [DAT](INFO): DAT read: Rx Time:20:46:20.6412

2025-06-25T20:46:19.817Z,1750884379.817 [DAT](INFO): Rx dataTimestamp_ set to:1750884379.817130
2025-06-25T20:46:19.818Z,1750884379.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004775
2025-06-25T20:46:19.819Z,1750884379.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177868 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:20.069Z,1750884380.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255529
2025-06-25T20:46:20.247Z,1750884380.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-06-25T20:46:20.250Z,1750884380.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.839554 m,
      nav range: 219.872543 m,
      bearing: 240.350146 deg,
      approach rate: -0.713751 m/s,
      LOS rate: 0.010948 deg/s,
      cmd heading: 239.374197 deg,
      new cmd heading: 239.388493 deg.

2025-06-25T20:46:20.251Z,1750884380.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178117 target range: 224.839554 and range: 227.00 m.
2025-06-25T20:46:20.324Z,1750884380.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509794
2025-06-25T20:46:20.579Z,1750884380.579 [DAT](INFO): DAT read: 20:46:20.6412 LVL= 24032, 32753, 23490, 32755, AGC= 63, IDX= 405,-0.02,-2.464, 2.285,-2.473,-2.976, PHS= 0.600,-0.975, 0.499, RAW= 146.7,  -1.6, CAL= 150.8, -10.6, ROT= 359.2,  10.6

2025-06-25T20:46:20.585Z,1750884380.585 [DAT](INFO): got valid direction response:
 20:46:20.6412 LVL= 24032, 32753, 23490, 32755, AGC= 63, IDX= 405,-0.02,-2.464, 2.285,-2.473,-2.976, PHS= 0.600,-0.975, 0.499, RAW= 146.7,  -1.6, CAL= 150.8, -10.6, ROT= 359.2,  10.6

2025-06-25T20:46:20.586Z,1750884380.586 [DAT](INFO): DAT read: Bearing 359.2,  10.6 (Local)

2025-06-25T20:46:20.586Z,1750884380.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  10.6 (Local)

2025-06-25T20:46:20.596Z,1750884380.596 [DAT](INFO): DAT read: Range 10 to 50 : 224.4 m  (Round-trip  299.3 ms) speed  0.4 m/s

2025-06-25T20:46:20.597Z,1750884380.597 [DAT](INFO): DAT read: user:661>

2025-06-25T20:46:20.597Z,1750884380.597 [DAT](INFO): DAT read: Tx time:20:46:21.7377

2025-06-25T20:46:20.598Z,1750884380.598 [DAT](INFO): Ping request sent.
2025-06-25T20:46:20.598Z,1750884380.598 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:20.598Z,1750884380.598 [DAT](INFO): DAT read: TxSync time:20:46:21.7370

2025-06-25T20:46:20.599Z,1750884380.599 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:20.633Z,1750884380.633 [DAT](INFO): direction in FSK: [0.982840,-0.013724,-0.183951]
2025-06-25T20:46:20.633Z,1750884380.633 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:20.633Z,1750884380.633 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:20.654Z,1750884380.654 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:20.654Z,1750884380.654 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:20.689Z,1750884380.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 224.399994 m,
      deltaT: 3.779915 s,
      deltaX: -2.600006 m,
      approachRate: -0.687848 m/s,
      rangeRepo size: 4

2025-06-25T20:46:20.691Z,1750884380.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.264114 m,
      bearing: 239.733313 deg,
      lat: 36.906275 deg,
      lon: -122.116366 deg,
      deltaT: 3.779915 s,
      deltaX: -2.575439 m,
      approachRate: -0.681349 m/s,
      posRepo size: 4

2025-06-25T20:46:20.696Z,1750884380.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:20.699Z,1750884380.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 220.047424 m,
      bearing: 239.817342 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010948 deg/s,
      cmd heading: 239.388486 deg,
      new cmd heading: 239.402981 deg.

2025-06-25T20:46:20.704Z,1750884380.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178370 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:21.043Z,1750884381.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:21.046Z,1750884381.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:21.049Z,1750884381.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 219.750336 m,
      bearing: 239.820960 deg,
      approach rate: -0.831687 m/s,
      LOS rate: 0.010143 deg/s,
      cmd heading: 239.402994 deg,
      new cmd heading: 239.413863 deg.

2025-06-25T20:46:21.050Z,1750884381.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178560 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:21.076Z,1750884381.076 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:21.077Z,1750884381.077 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:21.077Z,1750884381.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:21.329Z,1750884381.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.730811
2025-06-25T20:46:21.407Z,1750884381.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:21.409Z,1750884381.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 219.497971 m,
      bearing: 239.823991 deg,
      approach rate: -0.699373 m/s,
      LOS rate: 0.008409 deg/s,
      cmd heading: 239.413867 deg,
      new cmd heading: 239.422970 deg.

2025-06-25T20:46:21.410Z,1750884381.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178719 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:21.581Z,1750884381.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982815
2025-06-25T20:46:21.824Z,1750884381.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:21.826Z,1750884381.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 219.214722 m,
      bearing: 239.827372 deg,
      approach rate: -0.679345 m/s,
      LOS rate: 0.008120 deg/s,
      cmd heading: 239.422965 deg,
      new cmd heading: 239.433122 deg.

2025-06-25T20:46:21.827Z,1750884381.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178896 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:21.833Z,1750884381.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235055
2025-06-25T20:46:22.085Z,1750884382.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486857
2025-06-25T20:46:22.254Z,1750884382.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:22.263Z,1750884382.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 218.927765 m,
      bearing: 239.830456 deg,
      approach rate: -0.667792 m/s,
      LOS rate: 0.007187 deg/s,
      cmd heading: 239.433128 deg,
      new cmd heading: 239.442393 deg.

2025-06-25T20:46:22.266Z,1750884382.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179058 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:22.337Z,1750884382.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739380
2025-06-25T20:46:22.589Z,1750884382.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991000
2025-06-25T20:46:22.627Z,1750884382.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:22.630Z,1750884382.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 218.657104 m,
      bearing: 239.833326 deg,
      approach rate: -0.724879 m/s,
      LOS rate: 0.007694 deg/s,
      cmd heading: 239.442390 deg,
      new cmd heading: 239.451009 deg.

2025-06-25T20:46:22.632Z,1750884382.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179208 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:22.843Z,1750884382.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244971
2025-06-25T20:46:23.064Z,1750884383.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:23.066Z,1750884383.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:23.077Z,1750884383.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 218.366806 m,
      bearing: 239.836985 deg,
      approach rate: -0.660490 m/s,
      LOS rate: 0.008337 deg/s,
      cmd heading: 239.450996 deg,
      new cmd heading: 239.461989 deg.

2025-06-25T20:46:23.078Z,1750884383.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179400 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:23.093Z,1750884383.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495015
2025-06-25T20:46:23.345Z,1750884383.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747131
2025-06-25T20:46:23.431Z,1750884383.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:23.435Z,1750884383.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 218.115189 m,
      bearing: 239.840183 deg,
      approach rate: -0.689495 m/s,
      LOS rate: 0.008773 deg/s,
      cmd heading: 239.461979 deg,
      new cmd heading: 239.471583 deg.

2025-06-25T20:46:23.436Z,1750884383.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179568 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:23.597Z,1750884383.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998843
2025-06-25T20:46:23.838Z,1750884383.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:23.849Z,1750884383.849 [DAT](INFO): DAT read: Rx Time:20:46:24.4375

2025-06-25T20:46:23.850Z,1750884383.850 [DAT](INFO): Rx dataTimestamp_ set to:1750884383.849248
2025-06-25T20:46:23.850Z,1750884383.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252192
2025-06-25T20:46:23.857Z,1750884383.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 217.841309 m,
      bearing: 239.843694 deg,
      approach rate: -0.673425 m/s,
      LOS rate: 0.008643 deg/s,
      cmd heading: 239.471596 deg,
      new cmd heading: 239.482142 deg.

2025-06-25T20:46:23.858Z,1750884383.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179752 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:24.101Z,1750884384.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502853
2025-06-25T20:46:24.265Z,1750884384.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m.
2025-06-25T20:46:24.268Z,1750884384.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.264114 m,
      nav range: 217.551697 m,
      bearing: 239.846367 deg,
      approach rate: -0.677973 m/s,
      LOS rate: 0.006266 deg/s,
      cmd heading: 239.482142 deg,
      new cmd heading: 239.490172 deg.

2025-06-25T20:46:24.269Z,1750884384.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179892 target range: 222.264114 and range: 224.40 m.
2025-06-25T20:46:24.364Z,1750884384.364 [DAT](INFO): DAT read: 20:46:24.4375 LVL= 29312, 31953, 23922, 32755, AGC= 65, IDX= 400, 0.11, 1.398,-0.034, 1.406, 0.925, PHS= 0.561,-0.912, 0.478, RAW= 147.1,  -1.8, CAL= 151.2, -10.8, ROT= 358.8,  10.8

2025-06-25T20:46:24.365Z,1750884384.365 [DAT](INFO): got valid direction response:
 20:46:24.4375 LVL= 29312, 31953, 23922, 32755, AGC= 65, IDX= 400, 0.11, 1.398,-0.034, 1.406, 0.925, PHS= 0.561,-0.912, 0.478, RAW= 147.1,  -1.8, CAL= 151.2, -10.8, ROT= 358.8,  10.8

2025-06-25T20:46:24.366Z,1750884384.366 [DAT](INFO): DAT read: Bearing 358.8,  10.8 (Local)

2025-06-25T20:46:24.366Z,1750884384.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  10.8 (Local)

2025-06-25T20:46:24.372Z,1750884384.372 [DAT](INFO): DAT read: Range 10 to 50 : 221.7 m  (Round-trip  295.7 ms) speed  0.9 m/s

2025-06-25T20:46:24.374Z,1750884384.374 [DAT](INFO): DAT read: user:662>

2025-06-25T20:46:24.375Z,1750884384.375 [DAT](INFO): DAT read: Tx time:20:46:25.5377

2025-06-25T20:46:24.375Z,1750884384.375 [DAT](INFO): Ping request sent.
2025-06-25T20:46:24.375Z,1750884384.375 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:24.384Z,1750884384.384 [DAT](INFO): DAT read: TxSync time:20:46:25.5370

2025-06-25T20:46:24.385Z,1750884384.385 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:24.386Z,1750884384.386 [DAT](INFO): direction in FSK: [0.982072,-0.020571,-0.187381]
2025-06-25T20:46:24.387Z,1750884384.387 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:24.387Z,1750884384.387 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:24.395Z,1750884384.395 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:24.395Z,1750884384.395 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:24.681Z,1750884384.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.699997 m,
      deltaT: 3.780589 s,
      deltaX: -2.699997 m,
      approachRate: -0.714174 m/s,
      rangeRepo size: 4

2025-06-25T20:46:24.683Z,1750884384.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 219.590088 m,
      bearing: 239.267299 deg,
      lat: 36.906266 deg,
      lon: -122.116359 deg,
      deltaT: 3.780589 s,
      deltaX: -2.674026 m,
      approachRate: -0.707304 m/s,
      posRepo size: 4

2025-06-25T20:46:24.688Z,1750884384.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:24.690Z,1750884384.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 217.250687 m,
      bearing: 239.536290 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006266 deg/s,
      cmd heading: 239.490174 deg,
      new cmd heading: 239.497981 deg.

2025-06-25T20:46:24.691Z,1750884384.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180028 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:25.085Z,1750884385.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:25.087Z,1750884385.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:25.090Z,1750884385.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 216.964035 m,
      bearing: 239.538636 deg,
      approach rate: -0.705295 m/s,
      LOS rate: 0.005779 deg/s,
      cmd heading: 239.497988 deg,
      new cmd heading: 239.505034 deg.

2025-06-25T20:46:25.090Z,1750884385.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180151 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:25.109Z,1750884385.109 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:25.109Z,1750884385.109 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:25.109Z,1750884385.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:25.361Z,1750884385.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985784
2025-06-25T20:46:25.458Z,1750884385.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:25.461Z,1750884385.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 216.701767 m,
      bearing: 239.540791 deg,
      approach rate: -0.706899 m/s,
      LOS rate: 0.005816 deg/s,
      cmd heading: 239.505037 deg,
      new cmd heading: 239.511510 deg.

2025-06-25T20:46:25.461Z,1750884385.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180264 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:25.613Z,1750884385.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237918
2025-06-25T20:46:25.851Z,1750884385.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:25.854Z,1750884385.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 216.434891 m,
      bearing: 239.543077 deg,
      approach rate: -0.678784 m/s,
      LOS rate: 0.005822 deg/s,
      cmd heading: 239.511512 deg,
      new cmd heading: 239.518379 deg.

2025-06-25T20:46:25.855Z,1750884385.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180384 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:25.865Z,1750884385.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489896
2025-06-25T20:46:26.117Z,1750884386.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741816
2025-06-25T20:46:26.279Z,1750884386.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:26.283Z,1750884386.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 216.139557 m,
      bearing: 239.538623 deg,
      approach rate: -0.689140 m/s,
      LOS rate: -0.010407 deg/s,
      cmd heading: 239.518369 deg,
      new cmd heading: 239.504989 deg.

2025-06-25T20:46:26.284Z,1750884386.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180151 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:26.370Z,1750884386.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994678
2025-06-25T20:46:26.621Z,1750884386.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245757
2025-06-25T20:46:26.675Z,1750884386.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:26.677Z,1750884386.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 215.867783 m,
      bearing: 239.534587 deg,
      approach rate: -0.687770 m/s,
      LOS rate: -0.010226 deg/s,
      cmd heading: 239.504982 deg,
      new cmd heading: 239.492859 deg.

2025-06-25T20:46:26.678Z,1750884386.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179939 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:26.873Z,1750884386.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497739
2025-06-25T20:46:27.125Z,1750884387.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749748
2025-06-25T20:46:27.131Z,1750884387.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:27.137Z,1750884387.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:27.144Z,1750884387.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 215.561096 m,
      bearing: 239.536085 deg,
      approach rate: -0.663142 m/s,
      LOS rate: 0.003242 deg/s,
      cmd heading: 239.492851 deg,
      new cmd heading: 239.497350 deg.

2025-06-25T20:46:27.145Z,1750884387.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180017 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:27.377Z,1750884387.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002040
2025-06-25T20:46:27.464Z,1750884387.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:27.467Z,1750884387.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 215.318375 m,
      bearing: 239.537299 deg,
      approach rate: -0.742166 m/s,
      LOS rate: 0.003718 deg/s,
      cmd heading: 239.497359 deg,
      new cmd heading: 239.501007 deg.

2025-06-25T20:46:27.468Z,1750884387.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180081 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:27.629Z,1750884387.629 [DAT](INFO): DAT read: Rx Time:20:46:28.2810

2025-06-25T20:46:27.630Z,1750884387.630 [DAT](INFO): Rx dataTimestamp_ set to:1750884387.629232
2025-06-25T20:46:27.630Z,1750884387.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255405
2025-06-25T20:46:27.772Z,1750884387.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:46:27.870Z,1750884387.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:27.873Z,1750884387.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 215.036423 m,
      bearing: 239.538701 deg,
      approach rate: -0.694543 m/s,
      LOS rate: 0.003458 deg/s,
      cmd heading: 239.501020 deg,
      new cmd heading: 239.505231 deg.

2025-06-25T20:46:27.874Z,1750884387.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180155 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:27.881Z,1750884387.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505946
2025-06-25T20:46:28.141Z,1750884388.141 [DAT](INFO): DAT read: 20:46:28.2810 LVL= 29888, 32753, 25298, 32755, AGC= 69, IDX= 379,-0.03, 1.586, 0.348, 1.689, 0.877, PHS= 0.797,-0.482, 0.809, RAW= 150.5, -17.2, CAL= 156.4, -24.4, ROT= 353.6,  24.4

2025-06-25T20:46:28.142Z,1750884388.142 [DAT](INFO): got valid direction response:
 20:46:28.2810 LVL= 29888, 32753, 25298, 32755, AGC= 69, IDX= 379,-0.03, 1.586, 0.348, 1.689, 0.877, PHS= 0.797,-0.482, 0.809, RAW= 150.5, -17.2, CAL= 156.4, -24.4, ROT= 353.6,  24.4

2025-06-25T20:46:28.143Z,1750884388.143 [DAT](INFO): DAT read: Bearing 353.6,  24.4 (Local)

2025-06-25T20:46:28.144Z,1750884388.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  24.4 (Local)

2025-06-25T20:46:28.145Z,1750884388.145 [DAT](INFO): DAT read: Range 10 to 50 : 254.2 m  (Round-trip  339.0 ms) speed  0.4 m/s

2025-06-25T20:46:28.146Z,1750884388.146 [DAT](INFO): DAT read: user:663>

2025-06-25T20:46:28.147Z,1750884388.147 [DAT](INFO): DAT read: Tx time:20:46:29.3878

2025-06-25T20:46:28.147Z,1750884388.147 [DAT](INFO): Ping request sent.
2025-06-25T20:46:28.147Z,1750884388.147 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:28.147Z,1750884388.147 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:28.149Z,1750884388.149 [DAT](INFO): direction in FSK: [0.905008,-0.101513,-0.413104]
2025-06-25T20:46:28.149Z,1750884388.149 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:28.149Z,1750884388.149 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:28.153Z,1750884388.153 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:28.153Z,1750884388.153 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:28.367Z,1750884388.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 254.199997 m,
 deltaT: 3.781965 s,
 deltaX: 32.500000 m,
 approachRate: 8.593416 m/s,
 rangeRepo size: 4
2025-06-25T20:46:28.372Z,1750884388.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:28.375Z,1750884388.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 214.714966 m,
      bearing: 239.540079 deg,
      approach rate: -0.656604 m/s,
      LOS rate: 0.002819 deg/s,
      cmd heading: 239.505228 deg,
      new cmd heading: 239.509368 deg.

2025-06-25T20:46:28.380Z,1750884388.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180227 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:28.389Z,1750884388.389 [DAT](INFO): DAT read: TxSync time:20:46:29.3871

2025-06-25T20:46:28.692Z,1750884388.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:28.695Z,1750884388.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 214.467117 m,
      bearing: 239.541180 deg,
      approach rate: -0.745734 m/s,
      LOS rate: 0.003315 deg/s,
      cmd heading: 239.509381 deg,
      new cmd heading: 239.512686 deg.

2025-06-25T20:46:28.696Z,1750884388.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180285 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:28.776Z,1750884388.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:46:29.131Z,1750884389.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:29.134Z,1750884389.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 214.158188 m,
      bearing: 239.543511 deg,
      approach rate: -0.703335 m/s,
      LOS rate: 0.005316 deg/s,
      cmd heading: 239.512686 deg,
      new cmd heading: 239.519691 deg.

2025-06-25T20:46:29.135Z,1750884389.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180407 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:29.488Z,1750884389.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:29.490Z,1750884389.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:29.493Z,1750884389.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 213.905823 m,
      bearing: 239.545368 deg,
      approach rate: -0.703020 m/s,
      LOS rate: 0.005178 deg/s,
      cmd heading: 239.519680 deg,
      new cmd heading: 239.525257 deg.

2025-06-25T20:46:29.494Z,1750884389.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180504 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:29.649Z,1750884389.649 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:29.649Z,1750884389.649 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:29.650Z,1750884389.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:29.901Z,1750884389.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753702
2025-06-25T20:46:29.914Z,1750884389.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:29.917Z,1750884389.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 213.606979 m,
      bearing: 239.547572 deg,
      approach rate: -0.704329 m/s,
      LOS rate: 0.005202 deg/s,
      cmd heading: 239.525254 deg,
      new cmd heading: 239.531876 deg.

2025-06-25T20:46:29.918Z,1750884389.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180620 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:30.155Z,1750884390.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007503
2025-06-25T20:46:30.311Z,1750884390.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:30.315Z,1750884390.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 213.330780 m,
      bearing: 239.549494 deg,
      approach rate: -0.695958 m/s,
      LOS rate: 0.004849 deg/s,
      cmd heading: 239.531866 deg,
      new cmd heading: 239.537639 deg.

2025-06-25T20:46:30.316Z,1750884390.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180720 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:30.405Z,1750884390.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257701
2025-06-25T20:46:30.657Z,1750884390.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510070
2025-06-25T20:46:30.716Z,1750884390.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:30.719Z,1750884390.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 213.048630 m,
      bearing: 239.551430 deg,
      approach rate: -0.697075 m/s,
      LOS rate: 0.004791 deg/s,
      cmd heading: 239.537630 deg,
      new cmd heading: 239.543447 deg.

2025-06-25T20:46:30.720Z,1750884390.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180822 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:30.909Z,1750884390.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761624
2025-06-25T20:46:31.161Z,1750884391.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013565
2025-06-25T20:46:31.177Z,1750884391.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:31.179Z,1750884391.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 212.733337 m,
      bearing: 239.555265 deg,
      approach rate: -0.684405 m/s,
      LOS rate: 0.008337 deg/s,
      cmd heading: 239.543450 deg,
      new cmd heading: 239.554972 deg.

2025-06-25T20:46:31.181Z,1750884391.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181023 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:31.414Z,1750884391.414 [DAT](INFO): DAT read: Rx Time:20:46:32.0806

2025-06-25T20:46:31.414Z,1750884391.414 [DAT](INFO): Rx dataTimestamp_ set to:1750884391.413732
2025-06-25T20:46:31.415Z,1750884391.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267350
2025-06-25T20:46:31.510Z,1750884391.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:31.512Z,1750884391.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:31.515Z,1750884391.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 212.503387 m,
      bearing: 239.558091 deg,
      approach rate: -0.685785 m/s,
      LOS rate: 0.008436 deg/s,
      cmd heading: 239.554979 deg,
      new cmd heading: 239.563465 deg.

2025-06-25T20:46:31.516Z,1750884391.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181171 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:31.665Z,1750884391.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518225
2025-06-25T20:46:31.908Z,1750884391.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.59 m.
2025-06-25T20:46:31.911Z,1750884391.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.590088 m,
      nav range: 212.231796 m,
      bearing: 239.561421 deg,
      approach rate: -0.686388 m/s,
      LOS rate: 0.008426 deg/s,
      cmd heading: 239.563476 deg,
      new cmd heading: 239.573477 deg.

2025-06-25T20:46:31.912Z,1750884391.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181346 target range: 219.590088 and range: 221.70 m.
2025-06-25T20:46:31.927Z,1750884391.927 [DAT](INFO): DAT read: 20:46:32.0806 LVL= 32752, 32753, 32466, 32755, AGC= 66, IDX= 440,-0.25,-0.549,-1.910,-0.630,-1.008, PHS= 0.547,-0.855, 0.376, RAW= 143.6,  -1.0, CAL= 147.8, -10.1, ROT=   2.2,  10.1

2025-06-25T20:46:31.933Z,1750884391.933 [DAT](INFO): got valid direction response:
 20:46:32.0806 LVL= 32752, 32753, 32466, 32755, AGC= 66, IDX= 440,-0.25,-0.549,-1.910,-0.630,-1.008, PHS= 0.547,-0.855, 0.376, RAW= 143.6,  -1.0, CAL= 147.8, -10.1, ROT=   2.2,  10.1

2025-06-25T20:46:31.934Z,1750884391.934 [DAT](INFO): DAT read: Bearing   2.2,  10.1 (Local)

2025-06-25T20:46:31.934Z,1750884391.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  10.1 (Local)

2025-06-25T20:46:31.936Z,1750884391.936 [DAT](INFO): DAT read: Range 10 to 50 : 216.4 m  (Round-trip  288.6 ms) speed  0.7 m/s

2025-06-25T20:46:31.936Z,1750884391.936 [DAT](INFO): DAT read: user:664>

2025-06-25T20:46:31.937Z,1750884391.937 [DAT](INFO): DAT read: Tx time:20:46:33.1878

2025-06-25T20:46:31.937Z,1750884391.937 [DAT](INFO): Ping request sent.
2025-06-25T20:46:31.937Z,1750884391.937 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:31.938Z,1750884391.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:31.939Z,1750884391.939 [DAT](INFO): direction in FSK: [0.983778,0.037793,-0.175367]
2025-06-25T20:46:31.939Z,1750884391.939 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:31.939Z,1750884391.939 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:31.958Z,1750884391.958 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:31.959Z,1750884391.959 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:32.169Z,1750884392.169 [DAT](INFO): DAT read: TxSync time:20:46:33.1871

2025-06-25T20:46:32.360Z,1750884392.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.399994 m,
      deltaT: 7.565564 s,
      deltaX: -5.300003 m,
      approachRate: -0.700543 m/s,
      rangeRepo size: 4

2025-06-25T20:46:32.362Z,1750884392.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.340881 m,
      bearing: 242.317164 deg,
      lat: 36.906275 deg,
      lon: -122.116366 deg,
      deltaT: 7.565564 s,
      deltaX: -5.249207 m,
      approachRate: -0.693829 m/s,
      posRepo size: 4

2025-06-25T20:46:32.363Z,1750884392.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:32.366Z,1750884392.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 211.966080 m,
      bearing: 239.886375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008426 deg/s,
      cmd heading: 239.573475 deg,
      new cmd heading: 239.584891 deg.

2025-06-25T20:46:32.367Z,1750884392.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181545 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:32.732Z,1750884392.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:32.735Z,1750884392.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 211.706818 m,
      bearing: 239.890710 deg,
      approach rate: -0.695735 m/s,
      LOS rate: 0.011648 deg/s,
      cmd heading: 239.584895 deg,
      new cmd heading: 239.597916 deg.

2025-06-25T20:46:32.736Z,1750884392.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181773 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:33.180Z,1750884393.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:33.183Z,1750884393.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 211.405746 m,
      bearing: 239.896856 deg,
      approach rate: -0.672411 m/s,
      LOS rate: 0.013746 deg/s,
      cmd heading: 239.597927 deg,
      new cmd heading: 239.616391 deg.

2025-06-25T20:46:33.184Z,1750884393.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182095 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:33.546Z,1750884393.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:33.554Z,1750884393.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:33.561Z,1750884393.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 211.169510 m,
      bearing: 239.901638 deg,
      approach rate: -0.632465 m/s,
      LOS rate: 0.012818 deg/s,
      cmd heading: 239.616396 deg,
      new cmd heading: 239.630759 deg.

2025-06-25T20:46:33.562Z,1750884393.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182346 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:33.681Z,1750884393.681 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:33.681Z,1750884393.681 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:33.681Z,1750884393.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:33.933Z,1750884393.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995429
2025-06-25T20:46:33.938Z,1750884393.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:33.940Z,1750884393.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 210.895126 m,
      bearing: 239.907130 deg,
      approach rate: -0.713994 m/s,
      LOS rate: 0.014310 deg/s,
      cmd heading: 239.630767 deg,
      new cmd heading: 239.647265 deg.

2025-06-25T20:46:33.941Z,1750884393.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182634 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:34.185Z,1750884394.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247349
2025-06-25T20:46:34.371Z,1750884394.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:34.378Z,1750884394.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 210.614120 m,
      bearing: 239.911933 deg,
      approach rate: -0.648574 m/s,
      LOS rate: 0.011099 deg/s,
      cmd heading: 239.647268 deg,
      new cmd heading: 239.661695 deg.

2025-06-25T20:46:34.379Z,1750884394.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182886 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:34.438Z,1750884394.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500045
2025-06-25T20:46:34.689Z,1750884394.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751386
2025-06-25T20:46:34.744Z,1750884394.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:34.747Z,1750884394.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 210.347015 m,
      bearing: 239.916492 deg,
      approach rate: -0.716345 m/s,
      LOS rate: 0.012242 deg/s,
      cmd heading: 239.661694 deg,
      new cmd heading: 239.675388 deg.

2025-06-25T20:46:34.747Z,1750884394.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183125 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:34.941Z,1750884394.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003331
2025-06-25T20:46:35.193Z,1750884395.193 [DAT](INFO): DAT read: Rx Time:20:46:35.8771

2025-06-25T20:46:35.193Z,1750884395.193 [DAT](INFO): Rx dataTimestamp_ set to:1750884395.193076
2025-06-25T20:46:35.194Z,1750884395.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256417
2025-06-25T20:46:35.216Z,1750884395.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:35.219Z,1750884395.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 210.029373 m,
      bearing: 239.921481 deg,
      approach rate: -0.673031 m/s,
      LOS rate: 0.010588 deg/s,
      cmd heading: 239.675381 deg,
      new cmd heading: 239.690372 deg.

2025-06-25T20:46:35.219Z,1750884395.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183386 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:35.445Z,1750884395.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507298
2025-06-25T20:46:35.544Z,1750884395.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.34 m.
2025-06-25T20:46:35.577Z,1750884395.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.340881 m,
      nav range: 209.804047 m,
      bearing: 239.925000 deg,
      approach rate: -0.686379 m/s,
      LOS rate: 0.010731 deg/s,
      cmd heading: 239.690381 deg,
      new cmd heading: 239.700949 deg.

2025-06-25T20:46:35.583Z,1750884395.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183571 target range: 214.340881 and range: 216.40 m.
2025-06-25T20:46:35.705Z,1750884395.705 [DAT](INFO): DAT read: 20:46:35.8771 LVL= 29168, 32753, 25474, 32755, AGC= 67, IDX= 404,-0.47, 1.106,-0.281, 1.043, 0.609, PHS= 0.585,-0.843, 0.431, RAW= 144.4,  -2.6, CAL= 149.0, -11.7, ROT=   1.0,  11.7

2025-06-25T20:46:35.706Z,1750884395.706 [DAT](INFO): got valid direction response:
 20:46:35.8771 LVL= 29168, 32753, 25474, 32755, AGC= 67, IDX= 404,-0.47, 1.106,-0.281, 1.043, 0.609, PHS= 0.585,-0.843, 0.431, RAW= 144.4,  -2.6, CAL= 149.0, -11.7, ROT=   1.0,  11.7

2025-06-25T20:46:35.707Z,1750884395.707 [DAT](INFO): DAT read: Bearing   1.0,  11.7 (Local)

2025-06-25T20:46:35.708Z,1750884395.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  11.7 (Local)

2025-06-25T20:46:35.709Z,1750884395.709 [DAT](INFO): DAT read: Range 10 to 50 : 213.8 m  (Round-trip  285.1 ms) speed  0.7 m/s

2025-06-25T20:46:35.710Z,1750884395.710 [DAT](INFO): DAT read: user:665>

2025-06-25T20:46:35.711Z,1750884395.711 [DAT](INFO): DAT read: Tx time:20:46:36.9878

2025-06-25T20:46:35.711Z,1750884395.711 [DAT](INFO): Ping request sent.
2025-06-25T20:46:35.711Z,1750884395.711 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:35.711Z,1750884395.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:35.713Z,1750884395.713 [DAT](INFO): direction in FSK: [0.979074,0.017090,-0.202787]
2025-06-25T20:46:35.713Z,1750884395.713 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:35.713Z,1750884395.713 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:35.717Z,1750884395.717 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:35.717Z,1750884395.717 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:35.949Z,1750884395.949 [DAT](INFO): DAT read: TxSync time:20:46:36.9871

2025-06-25T20:46:35.994Z,1750884395.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 213.800003 m,
      deltaT: 3.778209 s,
      deltaX: -2.599991 m,
      approachRate: -0.688154 m/s,
      rangeRepo size: 4

2025-06-25T20:46:36.000Z,1750884396.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 211.765991 m,
      bearing: 241.391043 deg,
      lat: 36.906275 deg,
      lon: -122.116384 deg,
      deltaT: 3.778209 s,
      deltaX: -2.574890 m,
      approachRate: -0.681511 m/s,
      posRepo size: 4

2025-06-25T20:46:36.001Z,1750884396.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:36.008Z,1750884396.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 210.877243 m,
      bearing: 240.144421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010731 deg/s,
      cmd heading: 239.700954 deg,
      new cmd heading: 239.715425 deg.

2025-06-25T20:46:36.009Z,1750884396.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183824 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:36.373Z,1750884396.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:36.376Z,1750884396.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:36.378Z,1750884396.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 210.603409 m,
      bearing: 240.148947 deg,
      approach rate: -0.716800 m/s,
      LOS rate: 0.011862 deg/s,
      cmd heading: 239.715434 deg,
      new cmd heading: 239.729028 deg.

2025-06-25T20:46:36.379Z,1750884396.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184061 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:36.453Z,1750884396.453 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:36.454Z,1750884396.454 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:36.454Z,1750884396.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:36.705Z,1750884396.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993628
2025-06-25T20:46:36.773Z,1750884396.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:36.775Z,1750884396.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 210.341629 m,
      bearing: 240.153234 deg,
      approach rate: -0.659161 m/s,
      LOS rate: 0.010810 deg/s,
      cmd heading: 239.729039 deg,
      new cmd heading: 239.741919 deg.

2025-06-25T20:46:36.780Z,1750884396.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184286 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:36.957Z,1750884396.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245638
2025-06-25T20:46:37.209Z,1750884397.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497677
2025-06-25T20:46:37.233Z,1750884397.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:37.250Z,1750884397.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 210.027191 m,
      bearing: 240.158369 deg,
      approach rate: -0.682355 m/s,
      LOS rate: 0.011160 deg/s,
      cmd heading: 239.741907 deg,
      new cmd heading: 239.757336 deg.

2025-06-25T20:46:37.253Z,1750884397.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184555 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:37.461Z,1750884397.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750274
2025-06-25T20:46:37.606Z,1750884397.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:37.613Z,1750884397.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 209.757462 m,
      bearing: 240.161252 deg,
      approach rate: -0.724587 m/s,
      LOS rate: 0.007753 deg/s,
      cmd heading: 239.757344 deg,
      new cmd heading: 239.766002 deg.

2025-06-25T20:46:37.614Z,1750884397.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184706 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:37.714Z,1750884397.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002477
2025-06-25T20:46:37.965Z,1750884397.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253703
2025-06-25T20:46:37.971Z,1750884397.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:37.974Z,1750884397.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 209.502762 m,
      bearing: 240.163980 deg,
      approach rate: -0.697739 m/s,
      LOS rate: 0.007482 deg/s,
      cmd heading: 239.766004 deg,
      new cmd heading: 239.774198 deg.

2025-06-25T20:46:37.975Z,1750884397.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184849 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:38.219Z,1750884398.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507687
2025-06-25T20:46:38.390Z,1750884398.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:38.413Z,1750884398.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:38.415Z,1750884398.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 209.204681 m,
      bearing: 240.167525 deg,
      approach rate: -0.674665 m/s,
      LOS rate: 0.008036 deg/s,
      cmd heading: 239.774201 deg,
      new cmd heading: 239.784852 deg.

2025-06-25T20:46:38.420Z,1750884398.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185035 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:38.469Z,1750884398.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757809
2025-06-25T20:46:38.721Z,1750884398.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009586
2025-06-25T20:46:38.789Z,1750884398.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:38.792Z,1750884398.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 208.924301 m,
      bearing: 240.170963 deg,
      approach rate: -0.744324 m/s,
      LOS rate: 0.009138 deg/s,
      cmd heading: 239.784856 deg,
      new cmd heading: 239.795182 deg.

2025-06-25T20:46:38.793Z,1750884398.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185215 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:38.973Z,1750884398.973 [DAT](INFO): DAT read: Rx Time:20:46:39.6978

2025-06-25T20:46:38.974Z,1750884398.974 [DAT](INFO): Rx dataTimestamp_ set to:1750884398.973228
2025-06-25T20:46:38.974Z,1750884398.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262919
2025-06-25T20:46:39.228Z,1750884399.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515935
2025-06-25T20:46:39.258Z,1750884399.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:39.261Z,1750884399.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 208.593719 m,
      bearing: 240.175159 deg,
      approach rate: -0.705268 m/s,
      LOS rate: 0.008966 deg/s,
      cmd heading: 239.795183 deg,
      new cmd heading: 239.807791 deg.

2025-06-25T20:46:39.262Z,1750884399.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185435 target range: 211.765991 and range: 213.80 m.
2025-06-25T20:46:39.478Z,1750884399.478 [DAT](INFO): DAT read: Range 10 to 50 : 229.3 m  (Round-trip  305.8 ms) speed  0.1 m/s

2025-06-25T20:46:39.479Z,1750884399.479 [DAT](INFO): DAT read: user:666>

2025-06-25T20:46:39.480Z,1750884399.480 [DAT](INFO): DAT read: Tx time:20:46:40.7878

2025-06-25T20:46:39.481Z,1750884399.481 [DAT](INFO): Ping request sent.
2025-06-25T20:46:39.481Z,1750884399.481 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:39.481Z,1750884399.481 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:46:39.482Z,1750884399.482 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:39.482Z,1750884399.482 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:39.642Z,1750884399.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.300003 m,
      deltaT: 3.779655 s,
      deltaX: 15.500000 m,
      approachRate: 4.100904 m/s,
      rangeRepo size: 4

2025-06-25T20:46:39.643Z,1750884399.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:39.651Z,1750884399.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 208.339294 m,
      bearing: 240.178757 deg,
      approach rate: -0.664642 m/s,
      LOS rate: 0.009412 deg/s,
      cmd heading: 239.807778 deg,
      new cmd heading: 239.818587 deg.

2025-06-25T20:46:39.653Z,1750884399.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185624 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:39.730Z,1750884399.730 [DAT](INFO): DAT read: TxSync time:20:46:40.7871

2025-06-25T20:46:40.012Z,1750884400.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:40.015Z,1750884400.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 208.077499 m,
      bearing: 240.182544 deg,
      approach rate: -0.705668 m/s,
      LOS rate: 0.010220 deg/s,
      cmd heading: 239.818597 deg,
      new cmd heading: 239.829972 deg.

2025-06-25T20:46:40.016Z,1750884400.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185822 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:40.428Z,1750884400.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:40.430Z,1750884400.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:40.433Z,1750884400.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 207.779449 m,
      bearing: 240.187657 deg,
      approach rate: -0.712534 m/s,
      LOS rate: 0.012240 deg/s,
      cmd heading: 239.829962 deg,
      new cmd heading: 239.845322 deg.

2025-06-25T20:46:40.434Z,1750884400.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186090 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:40.485Z,1750884400.485 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:40.485Z,1750884400.485 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:40.485Z,1750884400.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:40.737Z,1750884400.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255617
2025-06-25T20:46:40.807Z,1750884400.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:40.810Z,1750884400.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 207.494934 m,
      bearing: 240.192505 deg,
      approach rate: -0.754015 m/s,
      LOS rate: 0.012868 deg/s,
      cmd heading: 239.845317 deg,
      new cmd heading: 239.859883 deg.

2025-06-25T20:46:40.811Z,1750884400.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186345 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:40.989Z,1750884400.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507568
2025-06-25T20:46:41.244Z,1750884401.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762156
2025-06-25T20:46:41.274Z,1750884401.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:41.283Z,1750884401.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 207.164322 m,
      bearing: 240.198104 deg,
      approach rate: -0.708889 m/s,
      LOS rate: 0.012024 deg/s,
      cmd heading: 239.859879 deg,
      new cmd heading: 239.876702 deg.

2025-06-25T20:46:41.292Z,1750884401.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186638 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:41.493Z,1750884401.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011873
2025-06-25T20:46:41.638Z,1750884401.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:41.643Z,1750884401.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 206.905487 m,
      bearing: 240.202819 deg,
      approach rate: -0.709844 m/s,
      LOS rate: 0.012946 deg/s,
      cmd heading: 239.876708 deg,
      new cmd heading: 239.890870 deg.

2025-06-25T20:46:41.644Z,1750884401.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186885 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:41.745Z,1750884401.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263581
2025-06-25T20:46:41.997Z,1750884401.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515577
2025-06-25T20:46:42.012Z,1750884402.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:42.014Z,1750884402.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 206.638046 m,
      bearing: 240.207664 deg,
      approach rate: -0.716627 m/s,
      LOS rate: 0.012999 deg/s,
      cmd heading: 239.890860 deg,
      new cmd heading: 239.905414 deg.

2025-06-25T20:46:42.015Z,1750884402.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187140 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:42.251Z,1750884402.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769704
2025-06-25T20:46:42.444Z,1750884402.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:42.446Z,1750884402.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:42.449Z,1750884402.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 206.330933 m,
      bearing: 240.215157 deg,
      approach rate: -0.706616 m/s,
      LOS rate: 0.017265 deg/s,
      cmd heading: 239.905422 deg,
      new cmd heading: 239.927934 deg.

2025-06-25T20:46:42.450Z,1750884402.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187532 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:42.502Z,1750884402.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020308
2025-06-25T20:46:42.753Z,1750884402.753 [DAT](INFO): DAT read: Rx Time:20:46:43.4943

2025-06-25T20:46:42.753Z,1750884402.753 [DAT](INFO): Rx dataTimestamp_ set to:1750884402.753009
2025-06-25T20:46:42.754Z,1750884402.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272624
2025-06-25T20:46:42.838Z,1750884402.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:42.841Z,1750884402.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 206.053680 m,
      bearing: 240.221965 deg,
      approach rate: -0.707390 m/s,
      LOS rate: 0.017394 deg/s,
      cmd heading: 239.927935 deg,
      new cmd heading: 239.948386 deg.

2025-06-25T20:46:42.842Z,1750884402.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187890 target range: 211.765991 and range: 229.30 m.
2025-06-25T20:46:43.005Z,1750884403.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523586
2025-06-25T20:46:43.263Z,1750884403.263 [DAT](INFO): DAT read: Range 10 to 50 : 226.6 m  (Round-trip  302.2 ms) speed  0.6 m/s

2025-06-25T20:46:43.266Z,1750884403.266 [DAT](INFO): DAT read: user:667>

2025-06-25T20:46:43.269Z,1750884403.269 [DAT](INFO): DAT read: Tx time:20:46:44.5879

2025-06-25T20:46:43.269Z,1750884403.269 [DAT](INFO): Ping request sent.
2025-06-25T20:46:43.270Z,1750884403.270 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:43.271Z,1750884403.271 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:46:43.271Z,1750884403.271 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:43.273Z,1750884403.273 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:43.335Z,1750884403.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.600006 m,
      deltaT: 3.781400 s,
      deltaX: -2.699997 m,
      approachRate: -0.714020 m/s,
      rangeRepo size: 4

2025-06-25T20:46:43.336Z,1750884403.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:43.339Z,1750884403.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 205.719742 m,
      bearing: 240.230264 deg,
      approach rate: -0.673282 m/s,
      LOS rate: 0.016760 deg/s,
      cmd heading: 239.948398 deg,
      new cmd heading: 239.973336 deg.

2025-06-25T20:46:43.339Z,1750884403.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188325 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:43.509Z,1750884403.509 [DAT](INFO): DAT read: TxSync time:20:46:44.5872

2025-06-25T20:46:43.702Z,1750884403.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:43.726Z,1750884403.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 205.454544 m,
      bearing: 240.236540 deg,
      approach rate: -0.721375 m/s,
      LOS rate: 0.017095 deg/s,
      cmd heading: 239.973342 deg,
      new cmd heading: 239.992195 deg.

2025-06-25T20:46:43.727Z,1750884403.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188654 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:44.058Z,1750884404.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:44.061Z,1750884404.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 205.205734 m,
      bearing: 240.242544 deg,
      approach rate: -0.699034 m/s,
      LOS rate: 0.016888 deg/s,
      cmd heading: 239.992193 deg,
      new cmd heading: 240.010226 deg.

2025-06-25T20:46:44.062Z,1750884404.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188969 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:44.478Z,1750884404.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:44.480Z,1750884404.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:44.483Z,1750884404.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 204.920578 m,
      bearing: 240.249903 deg,
      approach rate: -0.675676 m/s,
      LOS rate: 0.017462 deg/s,
      cmd heading: 240.010225 deg,
      new cmd heading: 240.032333 deg.

2025-06-25T20:46:44.485Z,1750884404.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.189354 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:44.517Z,1750884404.517 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:44.517Z,1750884404.517 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:44.517Z,1750884404.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:44.769Z,1750884404.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499254
2025-06-25T20:46:44.862Z,1750884404.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:44.865Z,1750884404.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 204.660675 m,
      bearing: 240.256455 deg,
      approach rate: -0.679933 m/s,
      LOS rate: 0.017162 deg/s,
      cmd heading: 240.032327 deg,
      new cmd heading: 240.052007 deg.

2025-06-25T20:46:44.866Z,1750884404.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.189698 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:45.021Z,1750884405.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751171
2025-06-25T20:46:45.276Z,1750884405.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005612
2025-06-25T20:46:45.328Z,1750884405.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:45.331Z,1750884405.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 204.377686 m,
      bearing: 240.263371 deg,
      approach rate: -0.607880 m/s,
      LOS rate: 0.014877 deg/s,
      cmd heading: 240.051998 deg,
      new cmd heading: 240.072775 deg.

2025-06-25T20:46:45.338Z,1750884405.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190060 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:45.525Z,1750884405.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255236
2025-06-25T20:46:45.698Z,1750884405.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:45.701Z,1750884405.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 204.087662 m,
      bearing: 240.270579 deg,
      approach rate: -0.783355 m/s,
      LOS rate: 0.019495 deg/s,
      cmd heading: 240.072762 deg,
      new cmd heading: 240.094415 deg.

2025-06-25T20:46:45.702Z,1750884405.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190438 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:45.777Z,1750884405.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507454
2025-06-25T20:46:46.029Z,1750884406.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759324
2025-06-25T20:46:46.081Z,1750884406.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:46.083Z,1750884406.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 203.832596 m,
      bearing: 240.276780 deg,
      approach rate: -0.666050 m/s,
      LOS rate: 0.016213 deg/s,
      cmd heading: 240.094427 deg,
      new cmd heading: 240.113054 deg.

2025-06-25T20:46:46.089Z,1750884406.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190763 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:46.283Z,1750884406.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013179
2025-06-25T20:46:46.503Z,1750884406.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:46.505Z,1750884406.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:46.509Z,1750884406.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 203.533218 m,
      bearing: 240.283679 deg,
      approach rate: -0.705141 m/s,
      LOS rate: 0.016274 deg/s,
      cmd heading: 240.113060 deg,
      new cmd heading: 240.133788 deg.

2025-06-25T20:46:46.510Z,1750884406.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191125 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:46.533Z,1750884406.533 [DAT](INFO): DAT read: Rx Time:20:46:47.2906

2025-06-25T20:46:46.534Z,1750884406.534 [DAT](INFO): Rx dataTimestamp_ set to:1750884406.533437
2025-06-25T20:46:46.534Z,1750884406.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264787
2025-06-25T20:46:46.785Z,1750884406.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515390
2025-06-25T20:46:46.873Z,1750884406.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.77 m.
2025-06-25T20:46:46.876Z,1750884406.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.765991 m,
      nav range: 203.281677 m,
      bearing: 240.289242 deg,
      approach rate: -0.684015 m/s,
      LOS rate: 0.015145 deg/s,
      cmd heading: 240.133796 deg,
      new cmd heading: 240.150504 deg.

2025-06-25T20:46:46.877Z,1750884406.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191417 target range: 211.765991 and range: 226.60 m.
2025-06-25T20:46:47.043Z,1750884407.043 [DAT](INFO): DAT read: 20:46:47.2906 LVL= 24496, 32753, 23410, 32755, AGC= 66, IDX= 396, 0.42,-2.206, 2.639,-2.230,-2.729, PHS= 0.610,-0.869, 0.496, RAW= 146.0,  -3.4, CAL= 150.7, -12.3, ROT= 359.3,  12.3

2025-06-25T20:46:47.044Z,1750884407.044 [DAT](INFO): got valid direction response:
 20:46:47.2906 LVL= 24496, 32753, 23410, 32755, AGC= 66, IDX= 396, 0.42,-2.206, 2.639,-2.230,-2.729, PHS= 0.610,-0.869, 0.496, RAW= 146.0,  -3.4, CAL= 150.7, -12.3, ROT= 359.3,  12.3

2025-06-25T20:46:47.045Z,1750884407.045 [DAT](INFO): DAT read: Bearing 359.3,  12.3 (Local)

2025-06-25T20:46:47.045Z,1750884407.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  12.3 (Local)

2025-06-25T20:46:47.047Z,1750884407.047 [DAT](INFO): DAT read: Range 10 to 50 : 223.8 m  (Round-trip  298.5 ms) speed  0.8 m/s

2025-06-25T20:46:47.048Z,1750884407.048 [DAT](INFO): DAT read: user:668>

2025-06-25T20:46:47.048Z,1750884407.048 [DAT](INFO): DAT read: Tx time:20:46:48.3879

2025-06-25T20:46:47.049Z,1750884407.049 [DAT](INFO): Ping request sent.
2025-06-25T20:46:47.049Z,1750884407.049 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:47.049Z,1750884407.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:47.050Z,1750884407.050 [DAT](INFO): direction in FSK: [0.976973,-0.011937,-0.213030]
2025-06-25T20:46:47.050Z,1750884407.050 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:47.051Z,1750884407.051 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:47.059Z,1750884407.059 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:47.059Z,1750884407.059 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:47.292Z,1750884407.292 [DAT](INFO): DAT read: TxSync time:20:46:48.3872

2025-06-25T20:46:47.375Z,1750884407.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.800003 m,
      deltaT: 3.778546 s,
      deltaX: -2.800003 m,
      approachRate: -0.741027 m/s,
      rangeRepo size: 4

2025-06-25T20:46:47.385Z,1750884407.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.670395 m,
      bearing: 240.462584 deg,
      lat: 36.906261 deg,
      lon: -122.116408 deg,
      deltaT: 11.339601 s,
      deltaX: 9.904404 m,
      approachRate: 0.873435 m/s,
      posRepo size: 4

2025-06-25T20:46:47.386Z,1750884407.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:47.393Z,1750884407.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 205.634766 m,
      bearing: 240.213747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015145 deg/s,
      cmd heading: 240.150517 deg,
      new cmd heading: 240.172958 deg.

2025-06-25T20:46:47.394Z,1750884407.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191809 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:47.733Z,1750884407.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:47.736Z,1750884407.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 205.342957 m,
      bearing: 240.217958 deg,
      approach rate: -0.796646 m/s,
      LOS rate: 0.011515 deg/s,
      cmd heading: 240.172947 deg,
      new cmd heading: 240.185601 deg.

2025-06-25T20:46:47.737Z,1750884407.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192029 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:48.108Z,1750884408.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:48.110Z,1750884408.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 205.099960 m,
      bearing: 240.221464 deg,
      approach rate: -0.685781 m/s,
      LOS rate: 0.009905 deg/s,
      cmd heading: 240.185597 deg,
      new cmd heading: 240.196126 deg.

2025-06-25T20:46:48.111Z,1750884408.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192213 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:48.522Z,1750884408.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:48.524Z,1750884408.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:48.527Z,1750884408.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 204.798996 m,
      bearing: 240.223604 deg,
      approach rate: -0.690075 m/s,
      LOS rate: 0.004915 deg/s,
      cmd heading: 240.196115 deg,
      new cmd heading: 240.202545 deg.

2025-06-25T20:46:48.549Z,1750884408.549 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:48.549Z,1750884408.549 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:48.549Z,1750884408.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:48.553Z,1750884408.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192325 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:48.801Z,1750884408.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751916
2025-06-25T20:46:48.921Z,1750884408.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:48.923Z,1750884408.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 204.529144 m,
      bearing: 240.225534 deg,
      approach rate: -0.679943 m/s,
      LOS rate: 0.004869 deg/s,
      cmd heading: 240.202535 deg,
      new cmd heading: 240.208333 deg.

2025-06-25T20:46:48.924Z,1750884408.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192426 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:49.053Z,1750884409.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003916
2025-06-25T20:46:49.305Z,1750884409.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256105
2025-06-25T20:46:49.385Z,1750884409.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:49.387Z,1750884409.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 204.242783 m,
      bearing: 240.227459 deg,
      approach rate: -0.620955 m/s,
      LOS rate: 0.004181 deg/s,
      cmd heading: 240.208327 deg,
      new cmd heading: 240.214112 deg.

2025-06-25T20:46:49.389Z,1750884409.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192527 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:49.557Z,1750884409.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507870
2025-06-25T20:46:49.733Z,1750884409.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:49.736Z,1750884409.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 203.953278 m,
      bearing: 240.229674 deg,
      approach rate: -0.824206 m/s,
      LOS rate: 0.006313 deg/s,
      cmd heading: 240.214119 deg,
      new cmd heading: 240.220772 deg.

2025-06-25T20:46:49.737Z,1750884409.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192644 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:49.810Z,1750884409.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760912
2025-06-25T20:46:50.061Z,1750884410.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011835
2025-06-25T20:46:50.114Z,1750884410.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:50.117Z,1750884410.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 203.688019 m,
      bearing: 240.231657 deg,
      approach rate: -0.696332 m/s,
      LOS rate: 0.005214 deg/s,
      cmd heading: 240.220786 deg,
      new cmd heading: 240.226744 deg.

2025-06-25T20:46:50.118Z,1750884410.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192748 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:50.313Z,1750884410.313 [DAT](INFO): DAT read: Rx Time:20:46:51.0870

2025-06-25T20:46:50.313Z,1750884410.313 [DAT](INFO): Rx dataTimestamp_ set to:1750884410.313128
2025-06-25T20:46:50.314Z,1750884410.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265068
2025-06-25T20:46:50.543Z,1750884410.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:50.546Z,1750884410.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.67 m.
2025-06-25T20:46:50.548Z,1750884410.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.670395 m,
      nav range: 203.386322 m,
      bearing: 240.233293 deg,
      approach rate: -0.699157 m/s,
      LOS rate: 0.003797 deg/s,
      cmd heading: 240.226742 deg,
      new cmd heading: 240.231657 deg.

2025-06-25T20:46:50.549Z,1750884410.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192833 target range: 221.670395 and range: 223.80 m.
2025-06-25T20:46:50.567Z,1750884410.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518537
2025-06-25T20:46:50.825Z,1750884410.825 [DAT](INFO): DAT read: 20:46:51.0870 LVL= 22512, 27569, 17362, 25315, AGC= 69, IDX= 407, 0.41,-0.631,-2.088,-0.640,-1.140, PHS= 0.597,-0.901, 0.498, RAW= 146.6,  -2.7, CAL= 151.0, -11.7, ROT= 359.0,  11.7

2025-06-25T20:46:50.826Z,1750884410.826 [DAT](INFO): got valid direction response:
 20:46:51.0870 LVL= 22512, 27569, 17362, 25315, AGC= 69, IDX= 407, 0.41,-0.631,-2.088,-0.640,-1.140, PHS= 0.597,-0.901, 0.498, RAW= 146.6,  -2.7, CAL= 151.0, -11.7, ROT= 359.0,  11.7

2025-06-25T20:46:50.827Z,1750884410.827 [DAT](INFO): DAT read: Bearing 359.0,  11.7 (Local)

2025-06-25T20:46:50.827Z,1750884410.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  11.7 (Local)

2025-06-25T20:46:50.834Z,1750884410.834 [DAT](INFO): DAT read: Range 10 to 50 : 221.1 m  (Round-trip  294.9 ms) speed  0.5 m/s

2025-06-25T20:46:50.835Z,1750884410.835 [DAT](INFO): DAT read: user:669>

2025-06-25T20:46:50.835Z,1750884410.835 [DAT](INFO): DAT read: Tx time:20:46:52.1879

2025-06-25T20:46:50.846Z,1750884410.846 [DAT](INFO): Ping request sent.
2025-06-25T20:46:50.846Z,1750884410.846 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:50.846Z,1750884410.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:50.847Z,1750884410.847 [DAT](INFO): direction in FSK: [0.979074,-0.017090,-0.202787]
2025-06-25T20:46:50.847Z,1750884410.847 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:50.852Z,1750884410.852 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:50.855Z,1750884410.855 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:50.855Z,1750884410.855 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:50.973Z,1750884410.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.100006 m,
      deltaT: 3.781523 s,
      deltaX: -2.699997 m,
      approachRate: -0.713997 m/s,
      rangeRepo size: 4

2025-06-25T20:46:50.975Z,1750884410.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 218.995438 m,
      bearing: 240.306253 deg,
      lat: 36.906214 deg,
      lon: -122.116416 deg,
      deltaT: 3.781523 s,
      deltaX: -2.674957 m,
      approachRate: -0.707376 m/s,
      posRepo size: 4

2025-06-25T20:46:50.980Z,1750884410.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:50.982Z,1750884410.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 206.271393 m,
      bearing: 239.092486 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003797 deg/s,
      cmd heading: 240.231659 deg,
      new cmd heading: 240.236473 deg.

2025-06-25T20:46:50.983Z,1750884410.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192917 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:51.074Z,1750884411.074 [DAT](INFO): DAT read: TxSync time:20:46:52.1872

2025-06-25T20:46:51.335Z,1750884411.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:51.338Z,1750884411.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 206.007599 m,
      bearing: 239.092414 deg,
      approach rate: -0.719188 m/s,
      LOS rate: -0.000197 deg/s,
      cmd heading: 240.236468 deg,
      new cmd heading: 240.236251 deg.

2025-06-25T20:46:51.339Z,1750884411.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192914 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:51.755Z,1750884411.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:51.757Z,1750884411.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 205.716721 m,
      bearing: 239.091189 deg,
      approach rate: -0.693165 m/s,
      LOS rate: -0.002923 deg/s,
      cmd heading: 240.236249 deg,
      new cmd heading: 240.232570 deg.

2025-06-25T20:46:51.758Z,1750884411.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192849 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:52.130Z,1750884412.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:52.133Z,1750884412.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 205.459839 m,
      bearing: 239.090183 deg,
      approach rate: -0.684394 m/s,
      LOS rate: -0.002684 deg/s,
      cmd heading: 240.232561 deg,
      new cmd heading: 240.229538 deg.

2025-06-25T20:46:52.134Z,1750884412.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192796 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:52.591Z,1750884412.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:52.594Z,1750884412.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:52.596Z,1750884412.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 205.147232 m,
      bearing: 239.090955 deg,
      approach rate: -0.674144 m/s,
      LOS rate: 0.001669 deg/s,
      cmd heading: 240.229528 deg,
      new cmd heading: 240.231851 deg.

2025-06-25T20:46:52.597Z,1750884412.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192837 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:52.839Z,1750884412.839 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:52.839Z,1750884412.839 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:52.840Z,1750884412.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:52.937Z,1750884412.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:52.939Z,1750884412.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 204.914017 m,
      bearing: 239.091472 deg,
      approach rate: -0.679986 m/s,
      LOS rate: 0.001508 deg/s,
      cmd heading: 240.231851 deg,
      new cmd heading: 240.233402 deg.

2025-06-25T20:46:52.940Z,1750884412.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192864 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:53.089Z,1750884413.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253032
2025-06-25T20:46:53.341Z,1750884413.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505652
2025-06-25T20:46:53.374Z,1750884413.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:53.391Z,1750884413.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 204.628510 m,
      bearing: 239.092086 deg,
      approach rate: -0.661636 m/s,
      LOS rate: 0.001426 deg/s,
      cmd heading: 240.233408 deg,
      new cmd heading: 240.235254 deg.

2025-06-25T20:46:53.399Z,1750884413.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192896 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:53.593Z,1750884413.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757040
2025-06-25T20:46:53.781Z,1750884413.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:53.783Z,1750884413.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 204.340225 m,
      bearing: 239.093773 deg,
      approach rate: -0.698497 m/s,
      LOS rate: 0.004092 deg/s,
      cmd heading: 240.235266 deg,
      new cmd heading: 240.240333 deg.

2025-06-25T20:46:53.785Z,1750884413.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192985 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:53.845Z,1750884413.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009534
2025-06-25T20:46:54.097Z,1750884414.097 [DAT](INFO): DAT read: Rx Time:20:46:54.8846

2025-06-25T20:46:54.097Z,1750884414.097 [DAT](INFO): Rx dataTimestamp_ set to:1750884414.097049
2025-06-25T20:46:54.098Z,1750884414.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262181
2025-06-25T20:46:54.172Z,1750884414.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:54.175Z,1750884414.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 204.089859 m,
      bearing: 239.095186 deg,
      approach rate: -0.646714 m/s,
      LOS rate: 0.003655 deg/s,
      cmd heading: 240.240320 deg,
      new cmd heading: 240.244565 deg.

2025-06-25T20:46:54.180Z,1750884414.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193058 target range: 218.995438 and range: 221.10 m.
2025-06-25T20:46:54.349Z,1750884414.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513168
2025-06-25T20:46:54.602Z,1750884414.602 [DAT](INFO): DAT read: Range 10 to 50 : 219.3 m  (Round-trip  292.5 ms) speed  0.4 m/s

2025-06-25T20:46:54.603Z,1750884414.603 [DAT](INFO): DAT read: user:670>

2025-06-25T20:46:54.603Z,1750884414.603 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:46:54.604Z,1750884414.604 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:54.604Z,1750884414.604 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:54.605Z,1750884414.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:54.610Z,1750884414.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:54.613Z,1750884414.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.300003 m,
      deltaT: 3.782526 s,
      deltaX: -1.800003 m,
      approachRate: -0.475873 m/s,
      rangeRepo size: 4

2025-06-25T20:46:54.614Z,1750884414.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:54.633Z,1750884414.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 203.782257 m,
      bearing: 239.097553 deg,
      approach rate: -0.691506 m/s,
      LOS rate: 0.005330 deg/s,
      cmd heading: 240.244555 deg,
      new cmd heading: 240.251667 deg.

2025-06-25T20:46:54.635Z,1750884414.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193182 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:54.853Z,1750884414.853 [DAT](INFO): DAT read: Tx tim:2:46:55.9879

2025-06-25T20:46:54.853Z,1750884414.853 [DAT](INFO): unknown deviceResponse_: Tx tim:2:46:55.9879

2025-06-25T20:46:54.854Z,1750884414.854 [DAT](INFO): DAT read: TxSync time:20:46:55.9872

2025-06-25T20:46:54.855Z,1750884414.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019144
2025-06-25T20:46:54.988Z,1750884414.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:54.996Z,1750884414.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 203.541412 m,
      bearing: 239.099321 deg,
      approach rate: -0.649582 m/s,
      LOS rate: 0.004773 deg/s,
      cmd heading: 240.251658 deg,
      new cmd heading: 240.256967 deg.

2025-06-25T20:46:54.997Z,1750884414.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193275 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:55.105Z,1750884415.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269068
2025-06-25T20:46:55.357Z,1750884415.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521149
2025-06-25T20:46:55.365Z,1750884415.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:55.368Z,1750884415.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 203.269058 m,
      bearing: 239.101400 deg,
      approach rate: -0.713785 m/s,
      LOS rate: 0.005456 deg/s,
      cmd heading: 240.256958 deg,
      new cmd heading: 240.263203 deg.

2025-06-25T20:46:55.369Z,1750884415.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193384 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:55.610Z,1750884415.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774393
2025-06-25T20:46:55.794Z,1750884415.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:55.801Z,1750884415.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 202.991684 m,
      bearing: 239.103533 deg,
      approach rate: -0.646021 m/s,
      LOS rate: 0.004975 deg/s,
      cmd heading: 240.263215 deg,
      new cmd heading: 240.269623 deg.

2025-06-25T20:46:55.802Z,1750884415.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193496 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:55.861Z,1750884415.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025191
2025-06-25T20:46:56.114Z,1750884416.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278220
2025-06-25T20:46:56.181Z,1750884416.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:56.184Z,1750884416.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 202.717072 m,
      bearing: 239.105593 deg,
      approach rate: -0.710123 m/s,
      LOS rate: 0.005335 deg/s,
      cmd heading: 240.269635 deg,
      new cmd heading: 240.275824 deg.

2025-06-25T20:46:56.185Z,1750884416.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193604 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:56.370Z,1750884416.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531984
2025-06-25T20:46:56.617Z,1750884416.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.781198
2025-06-25T20:46:56.617Z,1750884416.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:56.624Z,1750884416.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 202.430359 m,
      bearing: 239.108480 deg,
      approach rate: -0.665767 m/s,
      LOS rate: 0.006713 deg/s,
      cmd heading: 240.275837 deg,
      new cmd heading: 240.284510 deg.

2025-06-25T20:46:56.625Z,1750884416.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193756 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:56.869Z,1750884416.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033441
2025-06-25T20:46:56.983Z,1750884416.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:56.985Z,1750884416.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:56.988Z,1750884416.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 202.172394 m,
      bearing: 239.110960 deg,
      approach rate: -0.691086 m/s,
      LOS rate: 0.006653 deg/s,
      cmd heading: 240.284498 deg,
      new cmd heading: 240.291947 deg.

2025-06-25T20:46:56.989Z,1750884416.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193886 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:57.121Z,1750884417.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285008
2025-06-25T20:46:57.373Z,1750884417.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.537225
2025-06-25T20:46:57.394Z,1750884417.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:57.401Z,1750884417.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 201.903809 m,
      bearing: 239.113478 deg,
      approach rate: -0.656808 m/s,
      LOS rate: 0.006167 deg/s,
      cmd heading: 240.291956 deg,
      new cmd heading: 240.299522 deg.

2025-06-25T20:46:57.402Z,1750884417.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194018 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:57.625Z,1750884417.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.788976
2025-06-25T20:46:57.810Z,1750884417.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:57.813Z,1750884417.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 201.612946 m,
      bearing: 239.116063 deg,
      approach rate: -0.699757 m/s,
      LOS rate: 0.006228 deg/s,
      cmd heading: 240.299524 deg,
      new cmd heading: 240.307290 deg.

2025-06-25T20:46:57.813Z,1750884417.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194153 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:57.882Z,1750884417.882 [DAT](INFO): DAT read: Rx Time:20:46:58.7067

2025-06-25T20:46:57.882Z,1750884417.882 [DAT](INFO): Rx dataTimestamp_ set to:1750884417.881890
2025-06-25T20:46:57.883Z,1750884417.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047018
2025-06-25T20:46:58.133Z,1750884418.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297097
2025-06-25T20:46:58.200Z,1750884418.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:58.202Z,1750884418.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 201.348221 m,
      bearing: 239.118391 deg,
      approach rate: -0.678910 m/s,
      LOS rate: 0.005977 deg/s,
      cmd heading: 240.307283 deg,
      new cmd heading: 240.314275 deg.

2025-06-25T20:46:58.203Z,1750884418.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194275 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:58.395Z,1750884418.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558974
2025-06-25T20:46:58.627Z,1750884418.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.00 m.
2025-06-25T20:46:58.631Z,1750884418.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.995438 m,
      nav range: 201.059616 m,
      bearing: 239.122148 deg,
      approach rate: -0.674807 m/s,
      LOS rate: 0.008797 deg/s,
      cmd heading: 240.314277 deg,
      new cmd heading: 240.325565 deg.

2025-06-25T20:46:58.633Z,1750884418.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194472 target range: 218.995438 and range: 219.30 m.
2025-06-25T20:46:58.663Z,1750884418.663 [DAT](INFO): DAT read: 20:46:58.7067 LVL= 25824, 22577, 22642, 32083, AGC= 70, IDX= 161,-0.29,-1.369,-2.422,-1.123,-2.051, PHS= 0.770,-0.324, 0.925, RAW= 156.5, -22.4, CAL= 161.0, -28.9, ROT= 349.0,  28.9

2025-06-25T20:46:58.665Z,1750884418.665 [DAT](INFO): got valid direction response:
 20:46:58.7067 LVL= 25824, 22577, 22642, 32083, AGC= 70, IDX= 161,-0.29,-1.369,-2.422,-1.123,-2.051, PHS= 0.770,-0.324, 0.925, RAW= 156.5, -22.4, CAL= 161.0, -28.9, ROT= 349.0,  28.9

2025-06-25T20:46:58.666Z,1750884418.666 [DAT](INFO): DAT read: Bearing 349.0,  28.9 (Local)

2025-06-25T20:46:58.666Z,1750884418.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  28.9 (Local)

2025-06-25T20:46:58.676Z,1750884418.676 [DAT](INFO): DAT read: Range 10 to 50 : 235.8 m  (Round-trip  314.5 ms) speed  0.8 m/s

2025-06-25T20:46:58.677Z,1750884418.677 [DAT](INFO): DAT read: user:671>

2025-06-25T20:46:58.678Z,1750884418.678 [DAT](INFO): DAT read: Tx time:20:46:59.7880

2025-06-25T20:46:58.678Z,1750884418.678 [DAT](INFO): Ping request sent.
2025-06-25T20:46:58.678Z,1750884418.678 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:46:58.679Z,1750884418.679 [DAT](INFO): DAT read: TxSync time:20:46:59.7873

2025-06-25T20:46:58.679Z,1750884418.679 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:46:58.689Z,1750884418.689 [DAT](INFO): direction in FSK: [0.859380,-0.167047,-0.483282]
2025-06-25T20:46:58.689Z,1750884418.689 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:58.690Z,1750884418.690 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:58.693Z,1750884418.693 [DAT](INFO): publishing transmit ping time
2025-06-25T20:46:58.693Z,1750884418.693 [DAT](INFO): publishing direction and range info
2025-06-25T20:46:58.900Z,1750884418.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:46:59.004Z,1750884419.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 235.800003 m,
      deltaT: 4.036475 s,
      deltaX: 16.500000 m,
      approachRate: 4.087725 m/s,
      rangeRepo size: 4

2025-06-25T20:46:59.006Z,1750884419.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 233.556198 m,
      bearing: 232.539379 deg,
      lat: 36.906214 deg,
      lon: -122.116416 deg,
      deltaT: 7.819001 s,
      deltaX: 14.560760 m,
      approachRate: 1.862228 m/s,
      posRepo size: 4

2025-06-25T20:46:59.007Z,1750884419.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:46:59.010Z,1750884419.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 200.808304 m,
      bearing: 239.125412 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008797 deg/s,
      cmd heading: 240.325561 deg,
      new cmd heading: 240.335488 deg.

2025-06-25T20:46:59.011Z,1750884419.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194645 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:46:59.400Z,1750884419.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:46:59.402Z,1750884419.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:46:59.405Z,1750884419.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 200.537766 m,
      bearing: 239.128983 deg,
      approach rate: -0.679031 m/s,
      LOS rate: 0.008976 deg/s,
      cmd heading: 240.335478 deg,
      new cmd heading: 240.346207 deg.

2025-06-25T20:46:59.406Z,1750884419.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194833 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:46:59.645Z,1750884419.645 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:46:59.645Z,1750884419.645 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:46:59.646Z,1750884419.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:46:59.839Z,1750884419.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:46:59.842Z,1750884419.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 200.237625 m,
      bearing: 239.132371 deg,
      approach rate: -0.686045 m/s,
      LOS rate: 0.007755 deg/s,
      cmd heading: 240.346215 deg,
      new cmd heading: 240.356394 deg.

2025-06-25T20:46:59.843Z,1750884419.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195011 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:46:59.898Z,1750884419.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219550
2025-06-25T20:46:59.905Z,1750884419.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:47:00.149Z,1750884420.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470365
2025-06-25T20:47:00.214Z,1750884420.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:00.217Z,1750884420.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 199.981400 m,
      bearing: 239.135265 deg,
      approach rate: -0.684255 m/s,
      LOS rate: 0.007739 deg/s,
      cmd heading: 240.356406 deg,
      new cmd heading: 240.365100 deg.

2025-06-25T20:47:00.218Z,1750884420.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195162 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:00.401Z,1750884420.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722901
2025-06-25T20:47:00.654Z,1750884420.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975134
2025-06-25T20:47:00.674Z,1750884420.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:00.697Z,1750884420.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 199.660904 m,
      bearing: 239.137542 deg,
      approach rate: -0.696954 m/s,
      LOS rate: 0.004959 deg/s,
      cmd heading: 240.365094 deg,
      new cmd heading: 240.371935 deg.

2025-06-25T20:47:00.698Z,1750884420.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195282 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:00.905Z,1750884420.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226869
2025-06-25T20:47:01.016Z,1750884421.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:01.018Z,1750884421.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 199.420502 m,
      bearing: 239.139255 deg,
      approach rate: -0.703072 m/s,
      LOS rate: 0.005015 deg/s,
      cmd heading: 240.371924 deg,
      new cmd heading: 240.377068 deg.

2025-06-25T20:47:01.019Z,1750884421.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195371 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:01.157Z,1750884421.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478425
2025-06-25T20:47:01.409Z,1750884421.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730465
2025-06-25T20:47:01.422Z,1750884421.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:01.424Z,1750884421.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:01.427Z,1750884421.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 199.135025 m,
      bearing: 239.141342 deg,
      approach rate: -0.698929 m/s,
      LOS rate: 0.005118 deg/s,
      cmd heading: 240.377060 deg,
      new cmd heading: 240.383331 deg.

2025-06-25T20:47:01.428Z,1750884421.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195481 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:01.661Z,1750884421.661 [DAT](INFO): DAT read: Rx Time:20:47:02.4779

2025-06-25T20:47:01.662Z,1750884421.662 [DAT](INFO): Rx dataTimestamp_ set to:1750884421.661721
2025-06-25T20:47:01.663Z,1750884421.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984496
2025-06-25T20:47:01.862Z,1750884421.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:01.865Z,1750884421.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 198.827332 m,
      bearing: 239.142649 deg,
      approach rate: -0.702772 m/s,
      LOS rate: 0.002991 deg/s,
      cmd heading: 240.383344 deg,
      new cmd heading: 240.387272 deg.

2025-06-25T20:47:01.866Z,1750884421.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195549 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:01.917Z,1750884421.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237847
2025-06-25T20:47:02.167Z,1750884422.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488245
2025-06-25T20:47:02.244Z,1750884422.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:02.247Z,1750884422.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 198.558899 m,
      bearing: 239.143786 deg,
      approach rate: -0.702541 m/s,
      LOS rate: 0.002980 deg/s,
      cmd heading: 240.387278 deg,
      new cmd heading: 240.390694 deg.

2025-06-25T20:47:02.248Z,1750884422.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195609 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:02.423Z,1750884422.423 [DAT](INFO): DAT read: 20:47:02.4779 LVL= 32752, 32753, 26226, 32755, AGC= 67, IDX= 153, 0.14,-0.199,-1.749,-0.195,-0.713, PHS= 0.602,-0.990, 0.514, RAW= 147.2,  -1.7, CAL= 151.2, -10.6, ROT= 358.8,  10.6

2025-06-25T20:47:02.425Z,1750884422.425 [DAT](INFO): got valid direction response:
 20:47:02.4779 LVL= 32752, 32753, 26226, 32755, AGC= 67, IDX= 153, 0.14,-0.199,-1.749,-0.195,-0.713, PHS= 0.602,-0.990, 0.514, RAW= 147.2,  -1.7, CAL= 151.2, -10.6, ROT= 358.8,  10.6

2025-06-25T20:47:02.426Z,1750884422.426 [DAT](INFO): DAT read: Bearing 358.8,  10.6 (Local)

2025-06-25T20:47:02.426Z,1750884422.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  10.6 (Local)

2025-06-25T20:47:02.429Z,1750884422.429 [DAT](INFO): DAT read: Range 10 to 50 : 214.2 m  (Round-trip  285.7 ms) speed  0.4 m/s

2025-06-25T20:47:02.430Z,1750884422.430 [DAT](INFO): DAT read: user:672>

2025-06-25T20:47:02.431Z,1750884422.431 [DAT](INFO): DAT read: Tx time:20:47:03.5880

2025-06-25T20:47:02.431Z,1750884422.431 [DAT](INFO): Ping request sent.
2025-06-25T20:47:02.431Z,1750884422.431 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:02.432Z,1750884422.432 [DAT](INFO): DAT read: TxSync time:20:47:03.5873

2025-06-25T20:47:02.433Z,1750884422.433 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:02.434Z,1750884422.434 [DAT](INFO): direction in FSK: [0.982720,-0.020585,-0.183951]
2025-06-25T20:47:02.434Z,1750884422.434 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:02.434Z,1750884422.434 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:02.438Z,1750884422.438 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:02.438Z,1750884422.438 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:02.728Z,1750884422.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 214.199997 m,
 deltaT: 3.779396 s,
 deltaX: -21.600006 m,
 approachRate: -5.715200 m/s,
 rangeRepo size: 4
2025-06-25T20:47:02.729Z,1750884422.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:02.731Z,1750884422.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 198.241028 m,
      bearing: 239.144374 deg,
      approach rate: -0.674675 m/s,
      LOS rate: 0.001249 deg/s,
      cmd heading: 240.390693 deg,
      new cmd heading: 240.392459 deg.

2025-06-25T20:47:02.736Z,1750884422.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195640 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:03.052Z,1750884423.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:03.055Z,1750884423.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 197.990845 m,
      bearing: 239.144922 deg,
      approach rate: -0.742703 m/s,
      LOS rate: 0.001628 deg/s,
      cmd heading: 240.392469 deg,
      new cmd heading: 240.394115 deg.

2025-06-25T20:47:03.056Z,1750884423.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195669 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:03.441Z,1750884423.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:03.443Z,1750884423.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:03.446Z,1750884423.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 197.716263 m,
      bearing: 239.145559 deg,
      approach rate: -0.702279 m/s,
      LOS rate: 0.001632 deg/s,
      cmd heading: 240.394109 deg,
      new cmd heading: 240.396023 deg.

2025-06-25T20:47:03.447Z,1750884423.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195702 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:03.677Z,1750884423.677 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:03.677Z,1750884423.677 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:03.677Z,1750884423.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:03.870Z,1750884423.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:03.873Z,1750884423.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 197.414307 m,
      bearing: 239.145064 deg,
      approach rate: -0.706949 m/s,
      LOS rate: -0.001161 deg/s,
      cmd heading: 240.396021 deg,
      new cmd heading: 240.394534 deg.

2025-06-25T20:47:03.874Z,1750884423.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195676 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:03.930Z,1750884423.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498189
2025-06-25T20:47:04.181Z,1750884424.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749474
2025-06-25T20:47:04.254Z,1750884424.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:04.257Z,1750884424.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 197.143158 m,
      bearing: 239.144639 deg,
      approach rate: -0.706816 m/s,
      LOS rate: -0.001108 deg/s,
      cmd heading: 240.394546 deg,
      new cmd heading: 240.393270 deg.

2025-06-25T20:47:04.257Z,1750884424.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195654 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:04.436Z,1750884424.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004221
2025-06-25T20:47:04.685Z,1750884424.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253661
2025-06-25T20:47:04.695Z,1750884424.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:04.698Z,1750884424.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 196.828751 m,
      bearing: 239.144497 deg,
      approach rate: -0.711696 m/s,
      LOS rate: -0.000323 deg/s,
      cmd heading: 240.393262 deg,
      new cmd heading: 240.392833 deg.

2025-06-25T20:47:04.699Z,1750884424.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195646 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:04.937Z,1750884424.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505405
2025-06-25T20:47:05.065Z,1750884425.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:05.067Z,1750884425.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 196.565842 m,
      bearing: 239.144391 deg,
      approach rate: -0.711829 m/s,
      LOS rate: -0.000286 deg/s,
      cmd heading: 240.392825 deg,
      new cmd heading: 240.392507 deg.

2025-06-25T20:47:05.069Z,1750884425.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195641 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:05.189Z,1750884425.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757436
2025-06-25T20:47:05.441Z,1750884425.441 [DAT](INFO): DAT read: Rx Time:20:47:06.2742

2025-06-25T20:47:05.441Z,1750884425.441 [DAT](INFO): Rx dataTimestamp_ set to:1750884425.440902
2025-06-25T20:47:05.442Z,1750884425.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010366
2025-06-25T20:47:05.494Z,1750884425.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:05.500Z,1750884425.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:05.503Z,1750884425.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 196.265305 m,
      bearing: 239.144307 deg,
      approach rate: -0.696872 m/s,
      LOS rate: -0.000195 deg/s,
      cmd heading: 240.392497 deg,
      new cmd heading: 240.392244 deg.

2025-06-25T20:47:05.509Z,1750884425.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195636 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:05.693Z,1750884425.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261739
2025-06-25T20:47:05.893Z,1750884425.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.56 m.
2025-06-25T20:47:05.895Z,1750884425.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.556198 m,
      nav range: 195.980316 m,
      bearing: 239.145097 deg,
      approach rate: -0.718374 m/s,
      LOS rate: 0.001996 deg/s,
      cmd heading: 240.392251 deg,
      new cmd heading: 240.394626 deg.

2025-06-25T20:47:05.897Z,1750884425.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195678 target range: 233.556198 and range: 235.80 m.
2025-06-25T20:47:05.945Z,1750884425.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513975
2025-06-25T20:47:06.203Z,1750884426.203 [DAT](INFO): DAT read: 20:47:06.2742 LVL= 28016, 32753, 21714, 32755, AGC= 66, IDX= 404,-0.14,-2.167, 2.690,-2.153,-2.645, PHS= 0.566,-0.901, 0.489, RAW= 147.3,  -2.2, CAL= 151.5, -11.1, ROT= 358.5,  11.1

2025-06-25T20:47:06.204Z,1750884426.204 [DAT](INFO): got valid direction response:
 20:47:06.2742 LVL= 28016, 32753, 21714, 32755, AGC= 66, IDX= 404,-0.14,-2.167, 2.690,-2.153,-2.645, PHS= 0.566,-0.901, 0.489, RAW= 147.3,  -2.2, CAL= 151.5, -11.1, ROT= 358.5,  11.1

2025-06-25T20:47:06.206Z,1750884426.206 [DAT](INFO): DAT read: Bearing 358.5,  11.1 (Local)

2025-06-25T20:47:06.207Z,1750884426.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  11.1 (Local)

2025-06-25T20:47:06.219Z,1750884426.219 [DAT](INFO): DAT read: Range 10 to 50 : 211.5 m  (Round-trip  282.0 ms) speed  0.5 m/s

2025-06-25T20:47:06.220Z,1750884426.220 [DAT](INFO): DAT read: user:673>

2025-06-25T20:47:06.220Z,1750884426.220 [DAT](INFO): DAT read: Tx time:20:47:07.3880

2025-06-25T20:47:06.221Z,1750884426.221 [DAT](INFO): Ping request sent.
2025-06-25T20:47:06.221Z,1750884426.221 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:06.221Z,1750884426.221 [DAT](INFO): DAT read: TxSync time:20:47:07.3873

2025-06-25T20:47:06.222Z,1750884426.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:06.223Z,1750884426.223 [DAT](INFO): direction in FSK: [0.980956,-0.025687,-0.192522]
2025-06-25T20:47:06.223Z,1750884426.223 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:06.223Z,1750884426.223 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:06.235Z,1750884426.235 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:06.235Z,1750884426.235 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:06.366Z,1750884426.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 211.500000 m,
      deltaT: 7.559433 s,
      deltaX: -24.300003 m,
      approachRate: -3.214527 m/s,
      rangeRepo size: 4

2025-06-25T20:47:06.373Z,1750884426.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.486801 m,
      bearing: 239.764066 deg,
      lat: 36.906196 deg,
      lon: -122.116530 deg,
      deltaT: 7.559433 s,
      deltaX: -24.069397 m,
      approachRate: -3.184021 m/s,
      posRepo size: 4

2025-06-25T20:47:06.373Z,1750884426.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:06.380Z,1750884426.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 205.469162 m,
      bearing: 240.123521 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001996 deg/s,
      cmd heading: 240.394628 deg,
      new cmd heading: 240.397461 deg.

2025-06-25T20:47:06.381Z,1750884426.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195727 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:06.748Z,1750884426.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:06.751Z,1750884426.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 205.182144 m,
      bearing: 240.126266 deg,
      approach rate: -0.758863 m/s,
      LOS rate: 0.007268 deg/s,
      cmd heading: 240.397469 deg,
      new cmd heading: 240.405716 deg.

2025-06-25T20:47:06.757Z,1750884426.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195871 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:07.095Z,1750884427.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:07.098Z,1750884427.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 204.926498 m,
      bearing: 240.128775 deg,
      approach rate: -0.728226 m/s,
      LOS rate: 0.007155 deg/s,
      cmd heading: 240.405720 deg,
      new cmd heading: 240.413255 deg.

2025-06-25T20:47:07.099Z,1750884427.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196003 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:07.495Z,1750884427.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:07.497Z,1750884427.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:07.500Z,1750884427.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 204.641479 m,
      bearing: 240.131689 deg,
      approach rate: -0.709209 m/s,
      LOS rate: 0.007261 deg/s,
      cmd heading: 240.413260 deg,
      new cmd heading: 240.422015 deg.

2025-06-25T20:47:07.501Z,1750884427.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196156 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:07.708Z,1750884427.708 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:07.709Z,1750884427.709 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:07.709Z,1750884427.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:07.919Z,1750884427.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:07.938Z,1750884427.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 204.346756 m,
      bearing: 240.136871 deg,
      approach rate: -0.698510 m/s,
      LOS rate: 0.012300 deg/s,
      cmd heading: 240.422003 deg,
      new cmd heading: 240.437572 deg.

2025-06-25T20:47:07.939Z,1750884427.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196427 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:07.961Z,1750884427.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740026
2025-06-25T20:47:08.213Z,1750884428.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991806
2025-06-25T20:47:08.309Z,1750884428.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:08.311Z,1750884428.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 204.075226 m,
      bearing: 240.141604 deg,
      approach rate: -0.696912 m/s,
      LOS rate: 0.012164 deg/s,
      cmd heading: 240.437576 deg,
      new cmd heading: 240.451794 deg.

2025-06-25T20:47:08.312Z,1750884428.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196675 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:08.465Z,1750884428.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243832
2025-06-25T20:47:08.729Z,1750884428.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507839
2025-06-25T20:47:08.748Z,1750884428.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:08.751Z,1750884428.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 203.774796 m,
      bearing: 240.147442 deg,
      approach rate: -0.683791 m/s,
      LOS rate: 0.013307 deg/s,
      cmd heading: 240.451783 deg,
      new cmd heading: 240.469323 deg.

2025-06-25T20:47:08.752Z,1750884428.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196981 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:08.981Z,1750884428.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759912
2025-06-25T20:47:09.127Z,1750884429.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:09.130Z,1750884429.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 203.522476 m,
      bearing: 240.152333 deg,
      approach rate: -0.665438 m/s,
      LOS rate: 0.012916 deg/s,
      cmd heading: 240.469323 deg,
      new cmd heading: 240.484015 deg.

2025-06-25T20:47:09.131Z,1750884429.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197238 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:09.233Z,1750884429.233 [DAT](INFO): DAT read: Rx Time:20:47:10.0717

2025-06-25T20:47:09.233Z,1750884429.233 [DAT](INFO): Rx dataTimestamp_ set to:1750884429.233080
2025-06-25T20:47:09.234Z,1750884429.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012994
2025-06-25T20:47:09.485Z,1750884429.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263847
2025-06-25T20:47:09.515Z,1750884429.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:09.517Z,1750884429.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:09.520Z,1750884429.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 203.247543 m,
      bearing: 240.157610 deg,
      approach rate: -0.704588 m/s,
      LOS rate: 0.013542 deg/s,
      cmd heading: 240.484021 deg,
      new cmd heading: 240.499873 deg.

2025-06-25T20:47:09.521Z,1750884429.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197515 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:09.737Z,1750884429.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515795
2025-06-25T20:47:09.951Z,1750884429.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.49 m.
2025-06-25T20:47:09.954Z,1750884429.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.486801 m,
      nav range: 202.948715 m,
      bearing: 240.165003 deg,
      approach rate: -0.688389 m/s,
      LOS rate: 0.017055 deg/s,
      cmd heading: 240.499867 deg,
      new cmd heading: 240.522078 deg.

2025-06-25T20:47:09.955Z,1750884429.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197902 target range: 209.486801 and range: 211.50 m.
2025-06-25T20:47:09.997Z,1750884429.997 [DAT](INFO): DAT read: 20:47:10.0717 LVL= 29936, 32753, 26738, 32755, AGC= 65, IDX= 409, 0.06, 0.885,-0.730, 0.882, 0.328, PHS= 0.645,-1.011, 0.551, RAW= 147.1,  -2.3, CAL= 151.4, -11.3, ROT= 358.6,  11.3

2025-06-25T20:47:09.999Z,1750884429.999 [DAT](INFO): got valid direction response:
 20:47:10.0717 LVL= 29936, 32753, 26738, 32755, AGC= 65, IDX= 409, 0.06, 0.885,-0.730, 0.882, 0.328, PHS= 0.645,-1.011, 0.551, RAW= 147.1,  -2.3, CAL= 151.4, -11.3, ROT= 358.6,  11.3

2025-06-25T20:47:10.000Z,1750884430.000 [DAT](INFO): DAT read: Bearing 358.6,  11.3 (Local)

2025-06-25T20:47:10.001Z,1750884430.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  11.3 (Local)

2025-06-25T20:47:10.003Z,1750884430.003 [DAT](INFO): DAT read: Range 10 to 50 : 209.5 m  (Round-trip  279.4 ms) speed  0.7 m/s

2025-06-25T20:47:10.005Z,1750884430.005 [DAT](INFO): DAT read: user:674>

2025-06-25T20:47:10.008Z,1750884430.008 [DAT](INFO): DAT read: Tx time:20:47:11.1881

2025-06-25T20:47:10.009Z,1750884430.009 [DAT](INFO): Ping request sent.
2025-06-25T20:47:10.010Z,1750884430.010 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:10.010Z,1750884430.010 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:10.013Z,1750884430.013 [DAT](INFO): direction in FSK: [0.980322,-0.023958,-0.195946]
2025-06-25T20:47:10.013Z,1750884430.013 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:10.014Z,1750884430.014 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:10.017Z,1750884430.017 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:10.017Z,1750884430.017 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:10.241Z,1750884430.241 [DAT](INFO): DAT read: TxSync time:20:47:11.1874

2025-06-25T20:47:10.337Z,1750884430.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 209.500000 m,
      deltaT: 3.792346 s,
      deltaX: -2.000000 m,
      approachRate: -0.527378 m/s,
      rangeRepo size: 4

2025-06-25T20:47:10.339Z,1750884430.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 207.505981 m,
      bearing: 239.930708 deg,
      lat: 36.906181 deg,
      lon: -122.116536 deg,
      deltaT: 3.792346 s,
      deltaX: -1.980820 m,
      approachRate: -0.522320 m/s,
      posRepo size: 4

2025-06-25T20:47:10.341Z,1750884430.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:10.343Z,1750884430.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 203.927231 m,
      bearing: 239.831236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017055 deg/s,
      cmd heading: 240.522079 deg,
      new cmd heading: 240.541787 deg.

2025-06-25T20:47:10.344Z,1750884430.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198246 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:10.779Z,1750884430.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:10.782Z,1750884430.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 203.624573 m,
      bearing: 239.836396 deg,
      approach rate: -0.685324 m/s,
      LOS rate: 0.011701 deg/s,
      cmd heading: 240.541777 deg,
      new cmd heading: 240.557280 deg.

2025-06-25T20:47:10.783Z,1750884430.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198516 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:11.136Z,1750884431.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:11.139Z,1750884431.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 203.373917 m,
      bearing: 239.840655 deg,
      approach rate: -0.699783 m/s,
      LOS rate: 0.011906 deg/s,
      cmd heading: 240.557268 deg,
      new cmd heading: 240.570062 deg.

2025-06-25T20:47:11.140Z,1750884431.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198740 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:11.558Z,1750884431.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:11.560Z,1750884431.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:11.563Z,1750884431.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 203.096725 m,
      bearing: 239.845329 deg,
      approach rate: -0.654820 m/s,
      LOS rate: 0.011055 deg/s,
      cmd heading: 240.570054 deg,
      new cmd heading: 240.584093 deg.

2025-06-25T20:47:11.563Z,1750884431.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198985 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:11.753Z,1750884431.753 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:11.753Z,1750884431.753 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:11.753Z,1750884431.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:11.971Z,1750884431.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:11.974Z,1750884431.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 202.805634 m,
      bearing: 239.849943 deg,
      approach rate: -0.707205 m/s,
      LOS rate: 0.011227 deg/s,
      cmd heading: 240.584097 deg,
      new cmd heading: 240.597961 deg.

2025-06-25T20:47:11.975Z,1750884431.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199226 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:12.005Z,1750884432.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995955
2025-06-25T20:47:12.257Z,1750884432.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247703
2025-06-25T20:47:12.346Z,1750884432.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:12.349Z,1750884432.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 202.553329 m,
      bearing: 239.853823 deg,
      approach rate: -0.673673 m/s,
      LOS rate: 0.010373 deg/s,
      cmd heading: 240.597949 deg,
      new cmd heading: 240.609603 deg.

2025-06-25T20:47:12.350Z,1750884432.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199430 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:12.509Z,1750884432.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499702
2025-06-25T20:47:12.761Z,1750884432.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751756
2025-06-25T20:47:12.796Z,1750884432.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:12.799Z,1750884432.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 202.245605 m,
      bearing: 239.857177 deg,
      approach rate: -0.683925 m/s,
      LOS rate: 0.007464 deg/s,
      cmd heading: 240.609615 deg,
      new cmd heading: 240.619690 deg.

2025-06-25T20:47:12.800Z,1750884432.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199606 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:13.013Z,1750884433.013 [DAT](INFO): DAT read: Rx Time:20:47:13.8678

2025-06-25T20:47:13.014Z,1750884433.014 [DAT](INFO): Rx dataTimestamp_ set to:1750884433.013542
2025-06-25T20:47:13.015Z,1750884433.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005989
2025-06-25T20:47:13.154Z,1750884433.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:13.157Z,1750884433.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 202.000839 m,
      bearing: 239.859792 deg,
      approach rate: -0.683569 m/s,
      LOS rate: 0.007313 deg/s,
      cmd heading: 240.619696 deg,
      new cmd heading: 240.627551 deg.

2025-06-25T20:47:13.158Z,1750884433.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199743 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:13.265Z,1750884433.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255928
2025-06-25T20:47:13.517Z,1750884433.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507663
2025-06-25T20:47:13.616Z,1750884433.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:13.618Z,1750884433.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.51 m.
2025-06-25T20:47:13.625Z,1750884433.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.505981 m,
      nav range: 201.690002 m,
      bearing: 239.863055 deg,
      approach rate: -0.668981 m/s,
      LOS rate: 0.007032 deg/s,
      cmd heading: 240.627564 deg,
      new cmd heading: 240.637367 deg.

2025-06-25T20:47:13.626Z,1750884433.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199914 target range: 207.505981 and range: 209.50 m.
2025-06-25T20:47:13.775Z,1750884433.775 [DAT](INFO): DAT read: 20:47:13.8678 LVL= 28272, 31569, 25170, 28387, AGC= 67, IDX= 402,-0.29,-0.633,-2.046,-0.591,-1.106, PHS= 0.561,-0.893, 0.511, RAW= 148.3,  -2.5, CAL= 152.5, -11.4, ROT= 357.5,  11.4

2025-06-25T20:47:13.776Z,1750884433.776 [DAT](INFO): got valid direction response:
 20:47:13.8678 LVL= 28272, 31569, 25170, 28387, AGC= 67, IDX= 402,-0.29,-0.633,-2.046,-0.591,-1.106, PHS= 0.561,-0.893, 0.511, RAW= 148.3,  -2.5, CAL= 152.5, -11.4, ROT= 357.5,  11.4

2025-06-25T20:47:13.777Z,1750884433.777 [DAT](INFO): DAT read: Bearing 357.5,  11.4 (Local)

2025-06-25T20:47:13.778Z,1750884433.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  11.4 (Local)

2025-06-25T20:47:13.779Z,1750884433.779 [DAT](INFO): DAT read: Range 10 to 50 : 206.6 m  (Round-trip  275.5 ms) speed  0.4 m/s

2025-06-25T20:47:13.781Z,1750884433.781 [DAT](INFO): DAT read: user:675>

2025-06-25T20:47:13.781Z,1750884433.781 [DAT](INFO): DAT read: Tx time:20:47:14.9881

2025-06-25T20:47:13.782Z,1750884433.782 [DAT](INFO): Ping request sent.
2025-06-25T20:47:13.782Z,1750884433.782 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:13.782Z,1750884433.782 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:13.783Z,1750884433.783 [DAT](INFO): direction in FSK: [0.979338,-0.042759,-0.197657]
2025-06-25T20:47:13.783Z,1750884433.783 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:13.783Z,1750884433.783 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:13.787Z,1750884433.787 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:13.787Z,1750884433.787 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:14.021Z,1750884434.021 [DAT](INFO): DAT read: TxSync time:20:47:14.9874

2025-06-25T20:47:14.032Z,1750884434.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 206.600006 m,
      deltaT: 3.779969 s,
      deltaX: -2.899994 m,
      approachRate: -0.767200 m/s,
      rangeRepo size: 4

2025-06-25T20:47:14.034Z,1750884434.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 204.632645 m,
      bearing: 239.352404 deg,
      lat: 36.906181 deg,
      lon: -122.116536 deg,
      deltaT: 3.779969 s,
      deltaX: -2.873337 m,
      approachRate: -0.760148 m/s,
      posRepo size: 4

2025-06-25T20:47:14.036Z,1750884434.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:14.039Z,1750884434.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 201.467850 m,
      bearing: 239.840193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007032 deg/s,
      cmd heading: 240.637373 deg,
      new cmd heading: 240.645992 deg.

2025-06-25T20:47:14.040Z,1750884434.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200065 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:14.361Z,1750884434.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:14.364Z,1750884434.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 201.231750 m,
      bearing: 239.841157 deg,
      approach rate: -0.706472 m/s,
      LOS rate: 0.002888 deg/s,
      cmd heading: 240.646006 deg,
      new cmd heading: 240.648901 deg.

2025-06-25T20:47:14.365Z,1750884434.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200116 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:14.814Z,1750884434.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:14.817Z,1750884434.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 200.925980 m,
      bearing: 239.842014 deg,
      approach rate: -0.675723 m/s,
      LOS rate: 0.001898 deg/s,
      cmd heading: 240.648902 deg,
      new cmd heading: 240.651479 deg.

2025-06-25T20:47:14.818Z,1750884434.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200161 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:15.179Z,1750884435.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:15.182Z,1750884435.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 200.686768 m,
      bearing: 239.842725 deg,
      approach rate: -0.654221 m/s,
      LOS rate: 0.001945 deg/s,
      cmd heading: 240.651470 deg,
      new cmd heading: 240.653604 deg.

2025-06-25T20:47:15.183Z,1750884435.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200198 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:15.571Z,1750884435.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:15.574Z,1750884435.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 200.413910 m,
      bearing: 239.843437 deg,
      approach rate: -0.696309 m/s,
      LOS rate: 0.001819 deg/s,
      cmd heading: 240.653601 deg,
      new cmd heading: 240.655740 deg.

2025-06-25T20:47:15.575Z,1750884435.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200235 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:16.001Z,1750884436.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:16.003Z,1750884436.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:16.006Z,1750884436.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 200.120773 m,
      bearing: 239.843657 deg,
      approach rate: -0.678621 m/s,
      LOS rate: 0.000511 deg/s,
      cmd heading: 240.655732 deg,
      new cmd heading: 240.656395 deg.

2025-06-25T20:47:16.007Z,1750884436.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200246 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:16.037Z,1750884436.037 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:16.037Z,1750884436.037 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:16.037Z,1750884436.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:16.289Z,1750884436.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506995
2025-06-25T20:47:16.382Z,1750884436.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:16.385Z,1750884436.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 199.862701 m,
      bearing: 239.843810 deg,
      approach rate: -0.681006 m/s,
      LOS rate: 0.000403 deg/s,
      cmd heading: 240.656388 deg,
      new cmd heading: 240.656846 deg.

2025-06-25T20:47:16.386Z,1750884436.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200254 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:16.541Z,1750884436.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758893
2025-06-25T20:47:16.796Z,1750884436.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013348
2025-06-25T20:47:16.860Z,1750884436.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:16.863Z,1750884436.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 199.538681 m,
      bearing: 239.841367 deg,
      approach rate: -0.678056 m/s,
      LOS rate: -0.005119 deg/s,
      cmd heading: 240.656852 deg,
      new cmd heading: 240.649514 deg.

2025-06-25T20:47:16.864Z,1750884436.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200126 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:17.045Z,1750884437.045 [DAT](INFO): DAT read: Rx Time:20:47:17.6651

2025-06-25T20:47:17.045Z,1750884437.045 [DAT](INFO): Rx dataTimestamp_ set to:1750884437.045092
2025-06-25T20:47:17.046Z,1750884437.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264133
2025-06-25T20:47:17.206Z,1750884437.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.63 m.
2025-06-25T20:47:17.209Z,1750884437.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.632645 m,
      nav range: 199.304153 m,
      bearing: 239.839595 deg,
      approach rate: -0.678349 m/s,
      LOS rate: -0.005133 deg/s,
      cmd heading: 240.649503 deg,
      new cmd heading: 240.644179 deg.

2025-06-25T20:47:17.210Z,1750884437.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200033 target range: 204.632645 and range: 206.60 m.
2025-06-25T20:47:17.298Z,1750884437.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515773
2025-06-25T20:47:17.556Z,1750884437.556 [DAT](INFO): DAT read: 20:47:17.6651 LVL= 24976, 32753, 21042, 32755, AGC= 65, IDX= 405, 0.50, 2.215, 0.845, 2.211, 1.749, PHS= 0.554,-0.857, 0.459, RAW= 146.6,  -2.3, CAL= 150.9, -11.3, ROT= 359.1,  11.3

2025-06-25T20:47:17.557Z,1750884437.557 [DAT](INFO): got valid direction response:
 20:47:17.6651 LVL= 24976, 32753, 21042, 32755, AGC= 65, IDX= 405, 0.50, 2.215, 0.845, 2.211, 1.749, PHS= 0.554,-0.857, 0.459, RAW= 146.6,  -2.3, CAL= 150.9, -11.3, ROT= 359.1,  11.3

2025-06-25T20:47:17.558Z,1750884437.558 [DAT](INFO): DAT read: Bearing 359.1,  11.3 (Local)

2025-06-25T20:47:17.558Z,1750884437.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  11.3 (Local)

2025-06-25T20:47:17.564Z,1750884437.564 [DAT](INFO): DAT read: Range 10 to 50 : 204.6 m  (Round-trip  272.8 ms) speed  0.6 m/s

2025-06-25T20:47:17.565Z,1750884437.565 [DAT](INFO): DAT read: user:676>

2025-06-25T20:47:17.565Z,1750884437.565 [DAT](INFO): DAT read: Tx time:20:47:18.7881

2025-06-25T20:47:17.566Z,1750884437.566 [DAT](INFO): Ping request sent.
2025-06-25T20:47:17.566Z,1750884437.566 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:17.566Z,1750884437.566 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:17.567Z,1750884437.567 [DAT](INFO): direction in FSK: [0.980494,-0.015403,-0.195946]
2025-06-25T20:47:17.567Z,1750884437.567 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:17.568Z,1750884437.568 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:17.571Z,1750884437.571 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:17.571Z,1750884437.571 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:17.802Z,1750884437.802 [DAT](INFO): DAT read: TxSync time:20:47:18.7874

2025-06-25T20:47:17.808Z,1750884437.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 204.600006 m,
      deltaT: 3.780912 s,
      deltaX: -2.000000 m,
      approachRate: -0.528973 m/s,
      rangeRepo size: 4

2025-06-25T20:47:17.810Z,1750884437.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 202.651566 m,
      bearing: 241.079231 deg,
      lat: 36.906181 deg,
      lon: -122.116544 deg,
      deltaT: 3.780912 s,
      deltaX: -1.981079 m,
      approachRate: -0.523969 m/s,
      posRepo size: 4

2025-06-25T20:47:17.811Z,1750884437.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:17.817Z,1750884437.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 199.522522 m,
      bearing: 239.963774 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005133 deg/s,
      cmd heading: 240.644175 deg,
      new cmd heading: 240.634978 deg.

2025-06-25T20:47:17.818Z,1750884437.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199872 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:18.135Z,1750884438.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:18.137Z,1750884438.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:18.140Z,1750884438.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 199.242340 m,
      bearing: 239.964900 deg,
      approach rate: -0.839084 m/s,
      LOS rate: 0.003378 deg/s,
      cmd heading: 240.634968 deg,
      new cmd heading: 240.638352 deg.

2025-06-25T20:47:18.141Z,1750884438.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199932 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:18.305Z,1750884438.305 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:18.305Z,1750884438.305 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:18.305Z,1750884438.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:18.517Z,1750884438.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:18.524Z,1750884438.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 198.993378 m,
      bearing: 239.966062 deg,
      approach rate: -0.654615 m/s,
      LOS rate: 0.003058 deg/s,
      cmd heading: 240.638356 deg,
      new cmd heading: 240.641846 deg.

2025-06-25T20:47:18.525Z,1750884438.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199993 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:18.557Z,1750884438.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991208
2025-06-25T20:47:18.812Z,1750884438.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245251
2025-06-25T20:47:18.935Z,1750884438.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:18.953Z,1750884438.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 198.703171 m,
      bearing: 239.967693 deg,
      approach rate: -0.695475 m/s,
      LOS rate: 0.003914 deg/s,
      cmd heading: 240.641853 deg,
      new cmd heading: 240.646752 deg.

2025-06-25T20:47:18.954Z,1750884438.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200078 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:19.065Z,1750884439.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498920
2025-06-25T20:47:19.313Z,1750884439.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747056
2025-06-25T20:47:19.315Z,1750884439.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:19.318Z,1750884439.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 198.447144 m,
      bearing: 239.969072 deg,
      approach rate: -0.673347 m/s,
      LOS rate: 0.003633 deg/s,
      cmd heading: 240.646744 deg,
      new cmd heading: 240.650888 deg.

2025-06-25T20:47:19.319Z,1750884439.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200150 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:19.566Z,1750884439.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999879
2025-06-25T20:47:19.740Z,1750884439.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:19.748Z,1750884439.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 198.172272 m,
      bearing: 239.970521 deg,
      approach rate: -0.678560 m/s,
      LOS rate: 0.003580 deg/s,
      cmd heading: 240.650896 deg,
      new cmd heading: 240.655247 deg.

2025-06-25T20:47:19.749Z,1750884439.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200226 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:19.820Z,1750884439.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253353
2025-06-25T20:47:20.073Z,1750884440.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506209
2025-06-25T20:47:20.145Z,1750884440.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:20.147Z,1750884440.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:20.150Z,1750884440.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 197.879822 m,
      bearing: 239.972856 deg,
      approach rate: -0.684149 m/s,
      LOS rate: 0.005471 deg/s,
      cmd heading: 240.655240 deg,
      new cmd heading: 240.662256 deg.

2025-06-25T20:47:20.151Z,1750884440.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200349 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:20.321Z,1750884440.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754834
2025-06-25T20:47:20.521Z,1750884440.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:20.525Z,1750884440.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 197.623459 m,
      bearing: 239.974904 deg,
      approach rate: -0.686126 m/s,
      LOS rate: 0.005490 deg/s,
      cmd heading: 240.662262 deg,
      new cmd heading: 240.668415 deg.

2025-06-25T20:47:20.526Z,1750884440.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200456 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:20.574Z,1750884440.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007332
2025-06-25T20:47:20.828Z,1750884440.828 [DAT](INFO): DAT read: Rx Time:20:47:21.4350

2025-06-25T20:47:20.829Z,1750884440.829 [DAT](INFO): Rx dataTimestamp_ set to:1750884440.828378
2025-06-25T20:47:20.831Z,1750884440.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264649
2025-06-25T20:47:20.981Z,1750884440.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:20.988Z,1750884440.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 197.325089 m,
      bearing: 239.977695 deg,
      approach rate: -0.648168 m/s,
      LOS rate: 0.006073 deg/s,
      cmd heading: 240.668409 deg,
      new cmd heading: 240.676796 deg.

2025-06-25T20:47:20.989Z,1750884440.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200603 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:21.077Z,1750884441.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511496
2025-06-25T20:47:21.335Z,1750884441.335 [DAT](INFO): DAT read: 20:47:21.4350 LVL= 27728, 30625, 18466, 26611, AGC= 69, IDX= 130, 0.06, 0.981,-0.492, 1.001, 0.488, PHS= 0.581,-0.933, 0.511, RAW= 147.6,  -2.2, CAL= 151.8, -11.1, ROT= 358.2,  11.1

2025-06-25T20:47:21.336Z,1750884441.336 [DAT](INFO): got valid direction response:
 20:47:21.4350 LVL= 27728, 30625, 18466, 26611, AGC= 69, IDX= 130, 0.06, 0.981,-0.492, 1.001, 0.488, PHS= 0.581,-0.933, 0.511, RAW= 147.6,  -2.2, CAL= 151.8, -11.1, ROT= 358.2,  11.1

2025-06-25T20:47:21.337Z,1750884441.337 [DAT](INFO): DAT read: Bearing 358.2,  11.1 (Local)

2025-06-25T20:47:21.337Z,1750884441.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  11.1 (Local)

2025-06-25T20:47:21.339Z,1750884441.339 [DAT](INFO): DAT read: Range 10 to 50 : 182.0 m  (Round-trip  242.7 ms) speed  0.6 m/s

2025-06-25T20:47:21.339Z,1750884441.339 [DAT](INFO): DAT read: user:677>

2025-06-25T20:47:21.341Z,1750884441.341 [DAT](INFO): DAT read: Tx time:20:47:22.5381

2025-06-25T20:47:21.341Z,1750884441.341 [DAT](INFO): Ping request sent.
2025-06-25T20:47:21.341Z,1750884441.341 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:21.342Z,1750884441.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:21.342Z,1750884441.342 [DAT](INFO): direction in FSK: [0.980808,-0.030823,-0.192522]
2025-06-25T20:47:21.343Z,1750884441.343 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:21.343Z,1750884441.343 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:21.354Z,1750884441.354 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:21.355Z,1750884441.355 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:21.404Z,1750884441.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 182.000000 m,
 deltaT: 3.778776 s,
 deltaX: -22.600006 m,
 approachRate: -5.980774 m/s,
 rangeRepo size: 4
2025-06-25T20:47:21.405Z,1750884441.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:21.407Z,1750884441.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 197.076477 m,
      bearing: 239.979999 deg,
      approach rate: -0.594870 m/s,
      LOS rate: 0.005519 deg/s,
      cmd heading: 240.676796 deg,
      new cmd heading: 240.683715 deg.

2025-06-25T20:47:21.413Z,1750884441.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200723 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:21.581Z,1750884441.581 [DAT](INFO): DAT read: TxSync time:20:47:22.5374

2025-06-25T20:47:21.740Z,1750884441.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:21.742Z,1750884441.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 196.797302 m,
      bearing: 239.982673 deg,
      approach rate: -0.820284 m/s,
      LOS rate: 0.007867 deg/s,
      cmd heading: 240.683709 deg,
      new cmd heading: 240.691741 deg.

2025-06-25T20:47:21.743Z,1750884441.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200863 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:22.167Z,1750884442.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:22.169Z,1750884442.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:22.172Z,1750884442.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 196.503830 m,
      bearing: 239.986031 deg,
      approach rate: -0.682714 m/s,
      LOS rate: 0.007826 deg/s,
      cmd heading: 240.691741 deg,
      new cmd heading: 240.701833 deg.

2025-06-25T20:47:22.173Z,1750884442.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201039 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:22.337Z,1750884442.337 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:22.337Z,1750884442.337 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:22.337Z,1750884442.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:22.575Z,1750884442.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:22.589Z,1750884442.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247539
2025-06-25T20:47:22.598Z,1750884442.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 196.229752 m,
      bearing: 239.989179 deg,
      approach rate: -0.676393 m/s,
      LOS rate: 0.007778 deg/s,
      cmd heading: 240.701822 deg,
      new cmd heading: 240.711277 deg.

2025-06-25T20:47:22.598Z,1750884442.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201204 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:22.845Z,1750884442.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503223
2025-06-25T20:47:22.964Z,1750884442.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:22.967Z,1750884442.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 195.956039 m,
      bearing: 239.991774 deg,
      approach rate: -0.703128 m/s,
      LOS rate: 0.006676 deg/s,
      cmd heading: 240.711275 deg,
      new cmd heading: 240.719071 deg.

2025-06-25T20:47:22.968Z,1750884442.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201340 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:23.093Z,1750884443.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751652
2025-06-25T20:47:23.345Z,1750884443.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003585
2025-06-25T20:47:23.358Z,1750884443.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:23.361Z,1750884443.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 195.682098 m,
      bearing: 239.994184 deg,
      approach rate: -0.695435 m/s,
      LOS rate: 0.006126 deg/s,
      cmd heading: 240.719062 deg,
      new cmd heading: 240.726301 deg.

2025-06-25T20:47:23.362Z,1750884443.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201467 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:23.597Z,1750884443.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255384
2025-06-25T20:47:23.752Z,1750884443.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:23.755Z,1750884443.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 195.408173 m,
      bearing: 239.996471 deg,
      approach rate: -0.695197 m/s,
      LOS rate: 0.005814 deg/s,
      cmd heading: 240.726302 deg,
      new cmd heading: 240.733175 deg.

2025-06-25T20:47:23.756Z,1750884443.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201587 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:23.853Z,1750884443.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510932
2025-06-25T20:47:24.101Z,1750884444.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759473
2025-06-25T20:47:24.182Z,1750884444.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:24.185Z,1750884444.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:24.187Z,1750884444.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 195.109848 m,
      bearing: 239.999203 deg,
      approach rate: -0.689143 m/s,
      LOS rate: 0.006319 deg/s,
      cmd heading: 240.733187 deg,
      new cmd heading: 240.741393 deg.

2025-06-25T20:47:24.189Z,1750884444.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201730 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:24.353Z,1750884444.353 [DAT](INFO): DAT read: Rx Time:20:47:25.1814

2025-06-25T20:47:24.353Z,1750884444.353 [DAT](INFO): Rx dataTimestamp_ set to:1750884444.353092
2025-06-25T20:47:24.354Z,1750884444.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012654
2025-06-25T20:47:24.567Z,1750884444.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:24.570Z,1750884444.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 194.844345 m,
      bearing: 240.001671 deg,
      approach rate: -0.693790 m/s,
      LOS rate: 0.006460 deg/s,
      cmd heading: 240.741383 deg,
      new cmd heading: 240.748799 deg.

2025-06-25T20:47:24.571Z,1750884444.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201859 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:24.605Z,1750884444.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264080
2025-06-25T20:47:24.861Z,1750884444.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519201
2025-06-25T20:47:25.006Z,1750884445.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.65 m.
2025-06-25T20:47:25.013Z,1750884445.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.651566 m,
      nav range: 194.549500 m,
      bearing: 240.003622 deg,
      approach rate: -0.672577 m/s,
      LOS rate: 0.004457 deg/s,
      cmd heading: 240.748787 deg,
      new cmd heading: 240.754648 deg.

2025-06-25T20:47:25.014Z,1750884445.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201962 target range: 202.651566 and range: 204.60 m.
2025-06-25T20:47:25.119Z,1750884445.119 [DAT](INFO): DAT read: 20:47:25.1814 LVL= 28912, 32753, 20962, 32755, AGC= 69, IDX= 397, 0.16,-1.606,-2.979,-1.568,-2.097, PHS= 0.579,-0.835, 0.526, RAW= 148.1,  -3.9, CAL= 152.8, -12.7, ROT= 357.2,  12.7

2025-06-25T20:47:25.120Z,1750884445.120 [DAT](INFO): got valid direction response:
 20:47:25.1814 LVL= 28912, 32753, 20962, 32755, AGC= 69, IDX= 397, 0.16,-1.606,-2.979,-1.568,-2.097, PHS= 0.579,-0.835, 0.526, RAW= 148.1,  -3.9, CAL= 152.8, -12.7, ROT= 357.2,  12.7

2025-06-25T20:47:25.121Z,1750884445.121 [DAT](INFO): DAT read: Bearing 357.2,  12.7 (Local)

2025-06-25T20:47:25.121Z,1750884445.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  12.7 (Local)

2025-06-25T20:47:25.123Z,1750884445.123 [DAT](INFO): DAT read: Range 10 to 50 : 179.3 m  (Round-trip  239.1 ms) speed  0.5 m/s

2025-06-25T20:47:25.129Z,1750884445.129 [DAT](INFO): DAT read: user:678>

2025-06-25T20:47:25.129Z,1750884445.129 [DAT](INFO): DAT read: Tx time:20:47:26.2881

2025-06-25T20:47:25.130Z,1750884445.130 [DAT](INFO): Ping request sent.
2025-06-25T20:47:25.130Z,1750884445.130 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:25.130Z,1750884445.130 [DAT](INFO): DAT read: TxSync time:20:47:26.2874

2025-06-25T20:47:25.131Z,1750884445.131 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:25.136Z,1750884445.136 [DAT](INFO): direction in FSK: [0.974370,-0.047654,-0.219846]
2025-06-25T20:47:25.136Z,1750884445.136 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:25.137Z,1750884445.137 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:25.148Z,1750884445.148 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:25.148Z,1750884445.148 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:25.383Z,1750884445.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.300003 m,
      deltaT: 7.560543 s,
      deltaX: -25.300003 m,
      approachRate: -3.346321 m/s,
      rangeRepo size: 4

2025-06-25T20:47:25.385Z,1750884445.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.592529 m,
      bearing: 239.326381 deg,
      lat: 36.906211 deg,
      lon: -122.116527 deg,
      deltaT: 7.560543 s,
      deltaX: -25.059036 m,
      approachRate: -3.314449 m/s,
      posRepo size: 4

2025-06-25T20:47:25.386Z,1750884445.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:25.388Z,1750884445.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 191.384689 m,
      bearing: 240.633795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004457 deg/s,
      cmd heading: 240.754661 deg,
      new cmd heading: 240.759690 deg.

2025-06-25T20:47:25.389Z,1750884445.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202049 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:25.792Z,1750884445.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:25.795Z,1750884445.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 191.095657 m,
      bearing: 240.636732 deg,
      approach rate: -0.704977 m/s,
      LOS rate: 0.007174 deg/s,
      cmd heading: 240.759688 deg,
      new cmd heading: 240.768511 deg.

2025-06-25T20:47:25.796Z,1750884445.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202203 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:26.209Z,1750884446.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:26.211Z,1750884446.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:26.214Z,1750884446.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 190.802521 m,
      bearing: 240.638685 deg,
      approach rate: -0.699968 m/s,
      LOS rate: 0.004670 deg/s,
      cmd heading: 240.768512 deg,
      new cmd heading: 240.774380 deg.

2025-06-25T20:47:26.215Z,1750884446.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202306 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:26.368Z,1750884446.368 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:26.369Z,1750884446.369 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:26.369Z,1750884446.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:26.591Z,1750884446.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:26.594Z,1750884446.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 190.535934 m,
      bearing: 240.640530 deg,
      approach rate: -0.700536 m/s,
      LOS rate: 0.004856 deg/s,
      cmd heading: 240.774386 deg,
      new cmd heading: 240.779930 deg.

2025-06-25T20:47:26.595Z,1750884446.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202403 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:26.621Z,1750884446.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490950
2025-06-25T20:47:26.873Z,1750884446.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742998
2025-06-25T20:47:27.011Z,1750884447.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:27.014Z,1750884447.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 190.238892 m,
      bearing: 240.641980 deg,
      approach rate: -0.707713 m/s,
      LOS rate: 0.003461 deg/s,
      cmd heading: 240.779932 deg,
      new cmd heading: 240.784290 deg.

2025-06-25T20:47:27.015Z,1750884447.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202479 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:27.125Z,1750884447.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995569
2025-06-25T20:47:27.377Z,1750884447.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247032
2025-06-25T20:47:27.390Z,1750884447.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:27.393Z,1750884447.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 189.971191 m,
      bearing: 240.643333 deg,
      approach rate: -0.706909 m/s,
      LOS rate: 0.003577 deg/s,
      cmd heading: 240.784304 deg,
      new cmd heading: 240.788368 deg.

2025-06-25T20:47:27.394Z,1750884447.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202550 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:27.630Z,1750884447.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499727
2025-06-25T20:47:27.808Z,1750884447.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:27.811Z,1750884447.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 189.687256 m,
      bearing: 240.644829 deg,
      approach rate: -0.685532 m/s,
      LOS rate: 0.003617 deg/s,
      cmd heading: 240.788374 deg,
      new cmd heading: 240.792868 deg.

2025-06-25T20:47:27.816Z,1750884447.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202628 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:27.884Z,1750884447.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753297
2025-06-25T20:47:28.133Z,1750884448.133 [DAT](INFO): DAT read: Rx Time:20:47:28.9280

2025-06-25T20:47:28.133Z,1750884448.133 [DAT](INFO): Rx dataTimestamp_ set to:1750884448.132997
2025-06-25T20:47:28.134Z,1750884448.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004007
2025-06-25T20:47:28.253Z,1750884448.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:28.255Z,1750884448.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:28.262Z,1750884448.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 189.367233 m,
      bearing: 240.647889 deg,
      approach rate: -0.709921 m/s,
      LOS rate: 0.006800 deg/s,
      cmd heading: 240.792855 deg,
      new cmd heading: 240.802051 deg.

2025-06-25T20:47:28.262Z,1750884448.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202789 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:28.386Z,1750884448.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255664
2025-06-25T20:47:28.604Z,1750884448.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.59 m.
2025-06-25T20:47:28.635Z,1750884448.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.592529 m,
      nav range: 189.119675 m,
      bearing: 240.650328 deg,
      approach rate: -0.711574 m/s,
      LOS rate: 0.007020 deg/s,
      cmd heading: 240.802062 deg,
      new cmd heading: 240.809389 deg.

2025-06-25T20:47:28.662Z,1750884448.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202917 target range: 177.592529 and range: 179.30 m.
2025-06-25T20:47:28.668Z,1750884448.668 [DAT](INFO): DAT read: 20:47:28.9280 LVL= 23264, 30897, 21026, 30787, AGC= 66, IDX= 409,-0.35, 0.458,-0.971, 0.442,-0.031, PHS= 0.577,-0.893, 0.470, RAW= 146.3,  -2.2, CAL= 150.6, -11.2, ROT= 359.4,  11.2

2025-06-25T20:47:28.669Z,1750884448.669 [DAT](INFO): got valid direction response:
 20:47:28.9280 LVL= 23264, 30897, 21026, 30787, AGC= 66, IDX= 409,-0.35, 0.458,-0.971, 0.442,-0.031, PHS= 0.577,-0.893, 0.470, RAW= 146.3,  -2.2, CAL= 150.6, -11.2, ROT= 359.4,  11.2

2025-06-25T20:47:28.670Z,1750884448.670 [DAT](INFO): DAT read: Bearing 359.4,  11.2 (Local)

2025-06-25T20:47:28.670Z,1750884448.670 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  11.2 (Local)

2025-06-25T20:47:28.680Z,1750884448.680 [DAT](INFO): DAT read: Range 10 to 50 : 176.7 m  (Round-trip  235.6 ms) speed  0.8 m/s

2025-06-25T20:47:28.681Z,1750884448.681 [DAT](INFO): DAT read: user:679>

2025-06-25T20:47:28.682Z,1750884448.682 [DAT](INFO): DAT read: Tx time:20:47:30.0382

2025-06-25T20:47:28.682Z,1750884448.682 [DAT](INFO): Ping request sent.
2025-06-25T20:47:28.682Z,1750884448.682 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:28.682Z,1750884448.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:28.683Z,1750884448.683 [DAT](INFO): direction in FSK: [0.980901,-0.010272,-0.194234]
2025-06-25T20:47:28.693Z,1750884448.693 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:28.693Z,1750884448.693 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:28.705Z,1750884448.705 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:28.705Z,1750884448.705 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:28.890Z,1750884448.890 [DAT](INFO): DAT read: TxSync time:20:47:30.0375

2025-06-25T20:47:29.087Z,1750884449.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.699997 m,
      deltaT: 3.528237 s,
      deltaX: -2.600006 m,
      approachRate: -0.736914 m/s,
      rangeRepo size: 4

2025-06-25T20:47:29.093Z,1750884449.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.017395 m,
      bearing: 240.969652 deg,
      lat: 36.906256 deg,
      lon: -122.116373 deg,
      deltaT: 3.528237 s,
      deltaX: -2.575134 m,
      approachRate: -0.729864 m/s,
      posRepo size: 4

2025-06-25T20:47:29.094Z,1750884449.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:29.101Z,1750884449.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 174.438156 m,
      bearing: 239.883883 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007020 deg/s,
      cmd heading: 240.809384 deg,
      new cmd heading: 240.819571 deg.

2025-06-25T20:47:29.102Z,1750884449.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203094 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:29.405Z,1750884449.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:29.424Z,1750884449.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 174.205566 m,
      bearing: 239.886468 deg,
      approach rate: -0.729252 m/s,
      LOS rate: 0.008117 deg/s,
      cmd heading: 240.819575 deg,
      new cmd heading: 240.827342 deg.

2025-06-25T20:47:29.425Z,1750884449.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203230 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:29.813Z,1750884449.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:29.816Z,1750884449.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 173.920044 m,
      bearing: 239.889637 deg,
      approach rate: -0.699892 m/s,
      LOS rate: 0.007779 deg/s,
      cmd heading: 240.827334 deg,
      new cmd heading: 240.836854 deg.

2025-06-25T20:47:29.817Z,1750884449.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203396 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:30.045Z,1750884450.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:47:30.247Z,1750884450.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:30.250Z,1750884450.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 173.620590 m,
      bearing: 239.893923 deg,
      approach rate: -0.690858 m/s,
      LOS rate: 0.009905 deg/s,
      cmd heading: 240.836841 deg,
      new cmd heading: 240.849722 deg.

2025-06-25T20:47:30.251Z,1750884450.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203620 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:30.616Z,1750884450.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:30.618Z,1750884450.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:30.621Z,1750884450.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 173.364304 m,
      bearing: 239.897698 deg,
      approach rate: -0.689371 m/s,
      LOS rate: 0.010171 deg/s,
      cmd heading: 240.849710 deg,
      new cmd heading: 240.861054 deg.

2025-06-25T20:47:30.622Z,1750884450.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203818 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:30.653Z,1750884450.653 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:30.653Z,1750884450.653 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:30.654Z,1750884450.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:30.905Z,1750884450.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222614
2025-06-25T20:47:31.057Z,1750884451.057 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:47:31.088Z,1750884451.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:31.091Z,1750884451.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 173.064560 m,
      bearing: 239.902418 deg,
      approach rate: -0.643847 m/s,
      LOS rate: 0.010155 deg/s,
      cmd heading: 240.861048 deg,
      new cmd heading: 240.875231 deg.

2025-06-25T20:47:31.096Z,1750884451.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204066 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:31.158Z,1750884451.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475615
2025-06-25T20:47:31.409Z,1750884451.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726801
2025-06-25T20:47:31.425Z,1750884451.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:31.444Z,1750884451.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 172.809921 m,
      bearing: 239.906421 deg,
      approach rate: -0.746778 m/s,
      LOS rate: 0.011755 deg/s,
      cmd heading: 240.875227 deg,
      new cmd heading: 240.887252 deg.

2025-06-25T20:47:31.445Z,1750884451.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204276 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:31.663Z,1750884451.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980662
2025-06-25T20:47:31.827Z,1750884451.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:31.830Z,1750884451.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 172.533401 m,
      bearing: 239.910770 deg,
      approach rate: -0.687016 m/s,
      LOS rate: 0.010825 deg/s,
      cmd heading: 240.887248 deg,
      new cmd heading: 240.900319 deg.

2025-06-25T20:47:31.831Z,1750884451.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204504 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:31.915Z,1750884451.915 [DAT](INFO): DAT read: Rx Time:20:47:32.7310

2025-06-25T20:47:31.915Z,1750884451.915 [DAT](INFO): Rx dataTimestamp_ set to:1750884451.914968
2025-06-25T20:47:31.916Z,1750884451.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233821
2025-06-25T20:47:32.165Z,1750884452.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482667
2025-06-25T20:47:32.269Z,1750884452.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:32.273Z,1750884452.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 172.234802 m,
      bearing: 239.916864 deg,
      approach rate: -0.676044 m/s,
      LOS rate: 0.013821 deg/s,
      cmd heading: 240.900308 deg,
      new cmd heading: 240.918621 deg.

2025-06-25T20:47:32.274Z,1750884452.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204823 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:32.421Z,1750884452.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738204
2025-06-25T20:47:32.660Z,1750884452.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:32.663Z,1750884452.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:32.667Z,1750884452.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 171.973877 m,
      bearing: 239.922206 deg,
      approach rate: -0.662349 m/s,
      LOS rate: 0.013581 deg/s,
      cmd heading: 240.918612 deg,
      new cmd heading: 240.934663 deg.

2025-06-25T20:47:32.675Z,1750884452.675 [DAT](INFO): DAT read: 20:47:32.7310 LVL= 23184, 25633, 18626, 26579, AGC= 65, IDX= 472,-0.13,-0.005,-1.268, 0.134,-0.929, PHS= 1.011,-0.293, 1.060, RAW= 151.8, -25.3, CAL= 155.9, -31.7, ROT= 354.1,  31.7

2025-06-25T20:47:32.693Z,1750884452.693 [DAT](INFO): got valid direction response:
 20:47:32.7310 LVL= 23184, 25633, 18626, 26579, AGC= 65, IDX= 472,-0.13,-0.005,-1.268, 0.134,-0.929, PHS= 1.011,-0.293, 1.060, RAW= 151.8, -25.3, CAL= 155.9, -31.7, ROT= 354.1,  31.7

2025-06-25T20:47:32.694Z,1750884452.694 [DAT](INFO): DAT read: Bearing 354.1,  31.7 (Local)

2025-06-25T20:47:32.694Z,1750884452.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,  31.7 (Local)

2025-06-25T20:47:32.696Z,1750884452.696 [DAT](INFO): DAT read: Range 10 to 50 : 216.4 m  (Round-trip  288.6 ms) speed  0.4 m/s

2025-06-25T20:47:32.697Z,1750884452.697 [DAT](INFO): DAT read: user:680>

2025-06-25T20:47:32.699Z,1750884452.699 [DAT](INFO): DAT read: Tx time:20:47:33.8382

2025-06-25T20:47:32.708Z,1750884452.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205103 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:32.712Z,1750884452.712 [DAT](INFO): Ping request sent.
2025-06-25T20:47:32.712Z,1750884452.712 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:32.713Z,1750884452.713 [DAT](INFO): DAT read: TxSync time:20:47:33.8375

2025-06-25T20:47:32.713Z,1750884452.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:32.714Z,1750884452.714 [DAT](INFO): direction in FSK: [0.846304,-0.087457,-0.525472]
2025-06-25T20:47:32.714Z,1750884452.714 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:32.715Z,1750884452.715 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:32.726Z,1750884452.726 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:32.726Z,1750884452.726 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:33.099Z,1750884453.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 216.399994 m,
 deltaT: 4.030179 s,
 deltaX: 39.699997 m,
 approachRate: 9.850678 m/s,
 rangeRepo size: 4
2025-06-25T20:47:33.120Z,1750884453.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:33.123Z,1750884453.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 171.686783 m,
      bearing: 239.928350 deg,
      approach rate: -0.659806 m/s,
      LOS rate: 0.014143 deg/s,
      cmd heading: 240.934650 deg,
      new cmd heading: 240.953111 deg.

2025-06-25T20:47:33.123Z,1750884453.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205425 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:33.459Z,1750884453.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:33.463Z,1750884453.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 171.441971 m,
      bearing: 239.933673 deg,
      approach rate: -0.677967 m/s,
      LOS rate: 0.014763 deg/s,
      cmd heading: 240.953119 deg,
      new cmd heading: 240.969111 deg.

2025-06-25T20:47:33.464Z,1750884453.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205704 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:33.847Z,1750884453.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:33.850Z,1750884453.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 171.185471 m,
      bearing: 239.939235 deg,
      approach rate: -0.661189 m/s,
      LOS rate: 0.014359 deg/s,
      cmd heading: 240.969101 deg,
      new cmd heading: 240.985813 deg.

2025-06-25T20:47:33.851Z,1750884453.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205996 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:34.290Z,1750884454.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:34.294Z,1750884454.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 170.885300 m,
      bearing: 239.943833 deg,
      approach rate: -0.677223 m/s,
      LOS rate: 0.010391 deg/s,
      cmd heading: 240.985822 deg,
      new cmd heading: 240.999639 deg.

2025-06-25T20:47:34.295Z,1750884454.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206237 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:34.669Z,1750884454.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:34.671Z,1750884454.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:34.678Z,1750884454.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 170.627533 m,
      bearing: 239.947868 deg,
      approach rate: -0.678068 m/s,
      LOS rate: 0.010631 deg/s,
      cmd heading: 240.999646 deg,
      new cmd heading: 241.011770 deg.

2025-06-25T20:47:34.679Z,1750884454.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206449 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:34.685Z,1750884454.685 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:34.685Z,1750884454.685 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:34.685Z,1750884454.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:34.937Z,1750884454.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225044
2025-06-25T20:47:35.115Z,1750884455.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:35.118Z,1750884455.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 170.330673 m,
      bearing: 239.952378 deg,
      approach rate: -0.667904 m/s,
      LOS rate: 0.010163 deg/s,
      cmd heading: 241.011776 deg,
      new cmd heading: 241.025327 deg.

2025-06-25T20:47:35.119Z,1750884455.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206686 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:35.190Z,1750884455.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478040
2025-06-25T20:47:35.441Z,1750884455.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728791
2025-06-25T20:47:35.493Z,1750884455.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:35.495Z,1750884455.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 170.082397 m,
      bearing: 239.956160 deg,
      approach rate: -0.657660 m/s,
      LOS rate: 0.010035 deg/s,
      cmd heading: 241.025327 deg,
      new cmd heading: 241.036693 deg.

2025-06-25T20:47:35.496Z,1750884455.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206884 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:35.693Z,1750884455.693 [DAT](INFO): DAT read: Rx Time:20:47:36.4997

2025-06-25T20:47:35.693Z,1750884455.693 [DAT](INFO): Rx dataTimestamp_ set to:1750884455.692966
2025-06-25T20:47:35.694Z,1750884455.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981767
2025-06-25T20:47:35.882Z,1750884455.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:35.885Z,1750884455.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 169.821548 m,
      bearing: 239.960105 deg,
      approach rate: -0.670448 m/s,
      LOS rate: 0.010154 deg/s,
      cmd heading: 241.036693 deg,
      new cmd heading: 241.048544 deg.

2025-06-25T20:47:35.886Z,1750884455.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207091 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:35.946Z,1750884455.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233748
2025-06-25T20:47:36.200Z,1750884456.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487029
2025-06-25T20:47:36.317Z,1750884456.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.02 m.
2025-06-25T20:47:36.324Z,1750884456.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.017395 m,
      nav range: 169.531647 m,
      bearing: 239.960623 deg,
      approach rate: -0.666075 m/s,
      LOS rate: 0.001191 deg/s,
      cmd heading: 241.048550 deg,
      new cmd heading: 241.050106 deg.

2025-06-25T20:47:36.325Z,1750884456.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207118 target range: 175.017395 and range: 176.70 m.
2025-06-25T20:47:36.455Z,1750884456.455 [DAT](INFO): DAT read: 20:47:36.4997 LVL= 25312, 32753, 20674, 32755, AGC= 69, IDX= 119,-0.01, 0.591,-0.682, 0.615, 0.074, PHS= 0.605,-0.709, 0.538, RAW= 147.4,  -6.8, CAL= 153.0, -15.4, ROT= 357.0,  15.4

2025-06-25T20:47:36.459Z,1750884456.459 [DAT](INFO): got valid direction response:
 20:47:36.4997 LVL= 25312, 32753, 20674, 32755, AGC= 69, IDX= 119,-0.01, 0.591,-0.682, 0.615, 0.074, PHS= 0.605,-0.709, 0.538, RAW= 147.4,  -6.8, CAL= 153.0, -15.4, ROT= 357.0,  15.4

2025-06-25T20:47:36.473Z,1750884456.473 [DAT](INFO): DAT read: Bearing 357.0,  15.4 (Local)

2025-06-25T20:47:36.473Z,1750884456.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  15.4 (Local)

2025-06-25T20:47:36.475Z,1750884456.475 [DAT](INFO): DAT read: Range 10 to 50 : 192.9 m  (Round-trip  257.3 ms) speed  0.3 m/s

2025-06-25T20:47:36.475Z,1750884456.475 [DAT](INFO): DAT read: user:681>

2025-06-25T20:47:36.488Z,1750884456.488 [DAT](INFO): DAT read: Tx time:20:47:37.5882

2025-06-25T20:47:36.489Z,1750884456.489 [DAT](INFO): Ping request sent.
2025-06-25T20:47:36.489Z,1750884456.489 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:36.489Z,1750884456.489 [DAT](INFO): DAT read: TxSync time:20:47:37.5875

2025-06-25T20:47:36.490Z,1750884456.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:36.491Z,1750884456.491 [DAT](INFO): direction in FSK: [0.962774,-0.050457,-0.265556]
2025-06-25T20:47:36.491Z,1750884456.491 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:36.491Z,1750884456.491 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:36.499Z,1750884456.499 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:36.499Z,1750884456.499 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:36.707Z,1750884456.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.899994 m,
      deltaT: 7.810000 s,
      deltaX: 16.199997 m,
      approachRate: 2.074263 m/s,
      rangeRepo size: 4

2025-06-25T20:47:36.711Z,1750884456.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 191.063232 m,
      bearing: 238.900804 deg,
      lat: 36.906256 deg,
      lon: -122.116373 deg,
      deltaT: 7.810000 s,
      deltaX: 16.045837 m,
      approachRate: 2.054525 m/s,
      posRepo size: 4

2025-06-25T20:47:36.713Z,1750884456.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:36.718Z,1750884456.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 169.280624 m,
      bearing: 239.961078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001191 deg/s,
      cmd heading: 241.050107 deg,
      new cmd heading: 241.051499 deg.

2025-06-25T20:47:36.720Z,1750884456.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207142 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:37.141Z,1750884457.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:37.143Z,1750884457.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:37.146Z,1750884457.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 168.978592 m,
      bearing: 239.960895 deg,
      approach rate: -0.690876 m/s,
      LOS rate: -0.000418 deg/s,
      cmd heading: 241.051501 deg,
      new cmd heading: 241.050952 deg.

2025-06-25T20:47:37.147Z,1750884457.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207133 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:37.205Z,1750884457.205 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:37.205Z,1750884457.205 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:37.206Z,1750884457.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:37.457Z,1750884457.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968012
2025-06-25T20:47:37.485Z,1750884457.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:37.508Z,1750884457.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 168.748840 m,
      bearing: 239.960673 deg,
      approach rate: -0.672630 m/s,
      LOS rate: -0.000651 deg/s,
      cmd heading: 241.050954 deg,
      new cmd heading: 241.050287 deg.

2025-06-25T20:47:37.509Z,1750884457.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207121 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:37.712Z,1750884457.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222757
2025-06-25T20:47:37.891Z,1750884457.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:37.894Z,1750884457.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 168.476349 m,
      bearing: 239.960346 deg,
      approach rate: -0.671426 m/s,
      LOS rate: -0.000809 deg/s,
      cmd heading: 241.050299 deg,
      new cmd heading: 241.049314 deg.

2025-06-25T20:47:37.895Z,1750884457.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207104 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:37.961Z,1750884457.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472095
2025-06-25T20:47:38.213Z,1750884458.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723914
2025-06-25T20:47:38.330Z,1750884458.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:38.337Z,1750884458.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 168.194183 m,
      bearing: 239.959639 deg,
      approach rate: -0.642748 m/s,
      LOS rate: -0.001613 deg/s,
      cmd heading: 241.049315 deg,
      new cmd heading: 241.047191 deg.

2025-06-25T20:47:38.338Z,1750884458.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207067 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:38.465Z,1750884458.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975782
2025-06-25T20:47:38.698Z,1750884458.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:38.701Z,1750884458.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 167.932495 m,
      bearing: 239.958933 deg,
      approach rate: -0.710291 m/s,
      LOS rate: -0.001920 deg/s,
      cmd heading: 241.047184 deg,
      new cmd heading: 241.045062 deg.

2025-06-25T20:47:38.702Z,1750884458.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207030 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:38.728Z,1750884458.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239149
2025-06-25T20:47:38.970Z,1750884458.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480702
2025-06-25T20:47:39.221Z,1750884459.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731905
2025-06-25T20:47:39.243Z,1750884459.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:39.253Z,1750884459.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:39.260Z,1750884459.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 167.572693 m,
      bearing: 239.958711 deg,
      approach rate: -0.648038 m/s,
      LOS rate: -0.000400 deg/s,
      cmd heading: 241.045053 deg,
      new cmd heading: 241.044387 deg.

2025-06-25T20:47:39.261Z,1750884459.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207018 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:39.474Z,1750884459.474 [DAT](INFO): DAT read: Rx Time:20:47:40.2465

2025-06-25T20:47:39.475Z,1750884459.475 [DAT](INFO): Rx dataTimestamp_ set to:1750884459.474354
2025-06-25T20:47:39.475Z,1750884459.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986324
2025-06-25T20:47:39.566Z,1750884459.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.06 m.
2025-06-25T20:47:39.573Z,1750884459.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.063232 m,
      nav range: 167.356094 m,
      bearing: 239.958610 deg,
      approach rate: -0.693357 m/s,
      LOS rate: -0.000324 deg/s,
      cmd heading: 241.044397 deg,
      new cmd heading: 241.044093 deg.

2025-06-25T20:47:39.574Z,1750884459.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207013 target range: 191.063232 and range: 192.90 m.
2025-06-25T20:47:39.725Z,1750884459.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235944
2025-06-25T20:47:39.985Z,1750884459.985 [DAT](INFO): DAT read: 20:47:40.2465 LVL= 27632, 32753, 24818, 32755, AGC= 67, IDX= 406,-0.01,-1.427,-2.705,-1.403,-1.890, PHS= 0.551,-0.768, 0.484, RAW= 147.4,  -4.2, CAL= 152.2, -13.0, ROT= 357.8,  13.0

2025-06-25T20:47:39.986Z,1750884459.986 [DAT](INFO): got valid direction response:
 20:47:40.2465 LVL= 27632, 32753, 24818, 32755, AGC= 67, IDX= 406,-0.01,-1.427,-2.705,-1.403,-1.890, PHS= 0.551,-0.768, 0.484, RAW= 147.4,  -4.2, CAL= 152.2, -13.0, ROT= 357.8,  13.0

2025-06-25T20:47:39.987Z,1750884459.987 [DAT](INFO): DAT read: Bearing 357.8,  13.0 (Local)

2025-06-25T20:47:39.987Z,1750884459.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  13.0 (Local)

2025-06-25T20:47:39.989Z,1750884459.989 [DAT](INFO): DAT read: Range 10 to 50 : 190.5 m  (Round-trip  254.1 ms) speed  0.6 m/s

2025-06-25T20:47:39.989Z,1750884459.989 [DAT](INFO): DAT read: user:682>

2025-06-25T20:47:39.990Z,1750884459.990 [DAT](INFO): DAT read: Tx time:20:47:41.3383

2025-06-25T20:47:39.990Z,1750884459.990 [DAT](INFO): Ping request sent.
2025-06-25T20:47:39.991Z,1750884459.991 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:39.991Z,1750884459.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:39.996Z,1750884459.996 [DAT](INFO): direction in FSK: [0.973652,-0.037404,-0.224951]
2025-06-25T20:47:39.996Z,1750884459.996 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:39.997Z,1750884459.997 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:40.032Z,1750884460.032 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:40.045Z,1750884460.045 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:40.054Z,1750884460.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.500000 m,
      deltaT: 3.529396 s,
      deltaX: -2.399994 m,
      approachRate: -0.680001 m/s,
      rangeRepo size: 4

2025-06-25T20:47:40.066Z,1750884460.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 188.686111 m,
      bearing: 239.594068 deg,
      lat: 36.906166 deg,
      lon: -122.116452 deg,
      deltaT: 3.529396 s,
      deltaX: -2.377121 m,
      approachRate: -0.673521 m/s,
      posRepo size: 4

2025-06-25T20:47:40.072Z,1750884460.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:40.095Z,1750884460.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 178.145782 m,
      bearing: 238.303575 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000324 deg/s,
      cmd heading: 241.044097 deg,
      new cmd heading: 241.043622 deg.

2025-06-25T20:47:40.108Z,1750884460.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207005 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:40.230Z,1750884460.230 [DAT](INFO): DAT read: TxSync time:20:47:41.3375

2025-06-25T20:47:40.497Z,1750884460.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:40.500Z,1750884460.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 177.817993 m,
      bearing: 238.302138 deg,
      approach rate: -0.738040 m/s,
      LOS rate: -0.003243 deg/s,
      cmd heading: 241.043632 deg,
      new cmd heading: 241.039312 deg.

2025-06-25T20:47:40.501Z,1750884460.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206930 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:40.835Z,1750884460.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:40.838Z,1750884460.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 177.602554 m,
      bearing: 238.301245 deg,
      approach rate: -0.638752 m/s,
      LOS rate: -0.002649 deg/s,
      cmd heading: 241.039316 deg,
      new cmd heading: 241.036635 deg.

2025-06-25T20:47:40.838Z,1750884460.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206883 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:41.262Z,1750884461.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:41.265Z,1750884461.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:41.267Z,1750884461.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 177.302139 m,
      bearing: 238.300746 deg,
      approach rate: -0.698924 m/s,
      LOS rate: -0.001162 deg/s,
      cmd heading: 241.036638 deg,
      new cmd heading: 241.035139 deg.

2025-06-25T20:47:41.268Z,1750884461.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206857 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:41.489Z,1750884461.489 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:41.489Z,1750884461.489 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:41.490Z,1750884461.490 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:41.658Z,1750884461.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:41.682Z,1750884461.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 177.039978 m,
      bearing: 238.300310 deg,
      approach rate: -0.667444 m/s,
      LOS rate: -0.001113 deg/s,
      cmd heading: 241.035136 deg,
      new cmd heading: 241.033824 deg.

2025-06-25T20:47:41.683Z,1750884461.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206834 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:41.742Z,1750884461.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750611
2025-06-25T20:47:41.993Z,1750884461.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002207
2025-06-25T20:47:42.061Z,1750884462.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:42.064Z,1750884462.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 176.765259 m,
      bearing: 238.299747 deg,
      approach rate: -0.679820 m/s,
      LOS rate: -0.001394 deg/s,
      cmd heading: 241.033824 deg,
      new cmd heading: 241.032134 deg.

2025-06-25T20:47:42.065Z,1750884462.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206804 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:42.245Z,1750884462.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254207
2025-06-25T20:47:42.497Z,1750884462.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506547
2025-06-25T20:47:42.596Z,1750884462.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:42.598Z,1750884462.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 176.427338 m,
      bearing: 238.301084 deg,
      approach rate: -0.645563 m/s,
      LOS rate: 0.002558 deg/s,
      cmd heading: 241.032130 deg,
      new cmd heading: 241.036147 deg.

2025-06-25T20:47:42.599Z,1750884462.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206874 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:42.749Z,1750884462.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758189
2025-06-25T20:47:42.921Z,1750884462.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:42.924Z,1750884462.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 176.180130 m,
      bearing: 238.301945 deg,
      approach rate: -0.735527 m/s,
      LOS rate: 0.002565 deg/s,
      cmd heading: 241.036146 deg,
      new cmd heading: 241.038733 deg.

2025-06-25T20:47:42.925Z,1750884462.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206920 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:43.001Z,1750884463.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010238
2025-06-25T20:47:43.253Z,1750884463.253 [DAT](INFO): DAT read: Rx Time:20:47:43.9644

2025-06-25T20:47:43.253Z,1750884463.253 [DAT](INFO): Rx dataTimestamp_ set to:1750884463.252912
2025-06-25T20:47:43.254Z,1750884463.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263116
2025-06-25T20:47:43.357Z,1750884463.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:43.377Z,1750884463.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:43.384Z,1750884463.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 175.882980 m,
      bearing: 238.303478 deg,
      approach rate: -0.651120 m/s,
      LOS rate: 0.003366 deg/s,
      cmd heading: 241.038742 deg,
      new cmd heading: 241.043350 deg.

2025-06-25T20:47:43.385Z,1750884463.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207000 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:43.505Z,1750884463.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514178
2025-06-25T20:47:43.746Z,1750884463.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:43.751Z,1750884463.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 175.616272 m,
      bearing: 238.304696 deg,
      approach rate: -0.722810 m/s,
      LOS rate: 0.003305 deg/s,
      cmd heading: 241.043359 deg,
      new cmd heading: 241.047018 deg.

2025-06-25T20:47:43.755Z,1750884463.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207064 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:43.763Z,1750884463.763 [DAT](INFO): DAT read: 20:47:43.9644 LVL= 25488, 32753, 21490, 32755, AGC= 67, IDX= 109,-0.16,-1.599,-2.904,-1.585,-2.026, PHS= 0.516,-0.830, 0.438, RAW= 147.1,  -1.9, CAL= 151.2, -10.9, ROT= 358.8,  10.9

2025-06-25T20:47:43.764Z,1750884463.764 [DAT](INFO): got valid direction response:
 20:47:43.9644 LVL= 25488, 32753, 21490, 32755, AGC= 67, IDX= 109,-0.16,-1.599,-2.904,-1.585,-2.026, PHS= 0.516,-0.830, 0.438, RAW= 147.1,  -1.9, CAL= 151.2, -10.9, ROT= 358.8,  10.9

2025-06-25T20:47:43.765Z,1750884463.765 [DAT](INFO): DAT read: Bearing 358.8,  10.9 (Local)

2025-06-25T20:47:43.765Z,1750884463.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  10.9 (Local)

2025-06-25T20:47:43.767Z,1750884463.767 [DAT](INFO): DAT read: Range 10 to 50 : 166.4 m  (Round-trip  221.9 ms) speed  0.5 m/s

2025-06-25T20:47:43.768Z,1750884463.768 [DAT](INFO): DAT read: user:683>

2025-06-25T20:47:43.769Z,1750884463.769 [DAT](INFO): DAT read: Tx time:20:47:45.0883

2025-06-25T20:47:43.769Z,1750884463.769 [DAT](INFO): Ping request sent.
2025-06-25T20:47:43.769Z,1750884463.769 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:43.769Z,1750884463.769 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:43.770Z,1750884463.770 [DAT](INFO): direction in FSK: [0.981743,-0.020565,-0.189095]
2025-06-25T20:47:43.771Z,1750884463.771 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:43.771Z,1750884463.771 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:43.774Z,1750884463.774 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:43.774Z,1750884463.774 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:44.009Z,1750884464.009 [DAT](INFO): DAT read: TxSync time:20:47:45.0875

2025-06-25T20:47:44.241Z,1750884464.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 166.399994 m,
 deltaT: 3.778766 s,
 deltaX: -24.100006 m,
 approachRate: -6.377745 m/s,
 rangeRepo size: 4
2025-06-25T20:47:44.241Z,1750884464.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:44.244Z,1750884464.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 175.281693 m,
      bearing: 238.305967 deg,
      approach rate: -0.677705 m/s,
      LOS rate: 0.002580 deg/s,
      cmd heading: 241.047020 deg,
      new cmd heading: 241.050841 deg.

2025-06-25T20:47:44.245Z,1750884464.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207131 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:44.567Z,1750884464.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:44.570Z,1750884464.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 175.055450 m,
      bearing: 238.306829 deg,
      approach rate: -0.691354 m/s,
      LOS rate: 0.002639 deg/s,
      cmd heading: 241.050845 deg,
      new cmd heading: 241.053436 deg.

2025-06-25T20:47:44.571Z,1750884464.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207176 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:44.955Z,1750884464.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:44.958Z,1750884464.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 174.790298 m,
      bearing: 238.307886 deg,
      approach rate: -0.683119 m/s,
      LOS rate: 0.002727 deg/s,
      cmd heading: 241.053440 deg,
      new cmd heading: 241.056616 deg.

2025-06-25T20:47:44.959Z,1750884464.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207232 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:45.385Z,1750884465.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:45.388Z,1750884465.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:45.391Z,1750884465.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 174.491150 m,
      bearing: 238.309638 deg,
      approach rate: -0.692291 m/s,
      LOS rate: 0.004061 deg/s,
      cmd heading: 241.056610 deg,
      new cmd heading: 241.061874 deg.

2025-06-25T20:47:45.392Z,1750884465.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207324 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:45.520Z,1750884465.520 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:45.521Z,1750884465.521 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:45.521Z,1750884465.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:45.773Z,1750884465.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003785
2025-06-25T20:47:45.776Z,1750884465.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:45.779Z,1750884465.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 174.222382 m,
      bearing: 238.311109 deg,
      approach rate: -0.692017 m/s,
      LOS rate: 0.003794 deg/s,
      cmd heading: 241.061883 deg,
      new cmd heading: 241.066303 deg.

2025-06-25T20:47:45.780Z,1750884465.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207401 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:46.025Z,1750884466.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255555
2025-06-25T20:47:46.227Z,1750884466.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:46.238Z,1750884466.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 173.939575 m,
      bearing: 238.312578 deg,
      approach rate: -0.626448 m/s,
      LOS rate: 0.003257 deg/s,
      cmd heading: 241.066308 deg,
      new cmd heading: 241.070720 deg.

2025-06-25T20:47:46.239Z,1750884466.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207478 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:46.277Z,1750884466.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507740
2025-06-25T20:47:46.529Z,1750884466.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759656
2025-06-25T20:47:46.623Z,1750884466.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:46.626Z,1750884466.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 173.632629 m,
      bearing: 238.313965 deg,
      approach rate: -0.775841 m/s,
      LOS rate: 0.003512 deg/s,
      cmd heading: 241.070707 deg,
      new cmd heading: 241.074875 deg.

2025-06-25T20:47:46.627Z,1750884466.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207551 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:46.781Z,1750884466.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011564
2025-06-25T20:47:46.968Z,1750884466.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:46.970Z,1750884466.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 173.392548 m,
      bearing: 238.314987 deg,
      approach rate: -0.696713 m/s,
      LOS rate: 0.002970 deg/s,
      cmd heading: 241.074887 deg,
      new cmd heading: 241.077958 deg.

2025-06-25T20:47:46.971Z,1750884466.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207604 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:47.033Z,1750884467.033 [DAT](INFO): DAT read: Rx Time:20:47:47.7109

2025-06-25T20:47:47.033Z,1750884467.033 [DAT](INFO): Rx dataTimestamp_ set to:1750884467.033097
2025-06-25T20:47:47.034Z,1750884467.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264797
2025-06-25T20:47:47.285Z,1750884467.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515689
2025-06-25T20:47:47.458Z,1750884467.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:47.466Z,1750884467.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.69 m.
2025-06-25T20:47:47.472Z,1750884467.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.686111 m,
      nav range: 173.045517 m,
      bearing: 238.316761 deg,
      approach rate: -0.696874 m/s,
      LOS rate: 0.003570 deg/s,
      cmd heading: 241.077947 deg,
      new cmd heading: 241.083281 deg.

2025-06-25T20:47:47.473Z,1750884467.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207697 target range: 188.686111 and range: 190.50 m.
2025-06-25T20:47:47.551Z,1750884467.551 [DAT](INFO): DAT read: 20:47:47.7109 LVL= 26960, 32753, 23154, 32755, AGC= 68, IDX= 408, 0.27,-0.326,-1.824,-0.294,-0.812, PHS= 0.574,-0.964, 0.515, RAW= 148.1,  -1.7, CAL= 152.0, -10.6, ROT= 358.0,  10.6

2025-06-25T20:47:47.552Z,1750884467.552 [DAT](INFO): got valid direction response:
 20:47:47.7109 LVL= 26960, 32753, 23154, 32755, AGC= 68, IDX= 408, 0.27,-0.326,-1.824,-0.294,-0.812, PHS= 0.574,-0.964, 0.515, RAW= 148.1,  -1.7, CAL= 152.0, -10.6, ROT= 358.0,  10.6

2025-06-25T20:47:47.553Z,1750884467.553 [DAT](INFO): DAT read: Bearing 358.0,  10.6 (Local)

2025-06-25T20:47:47.553Z,1750884467.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  10.6 (Local)

2025-06-25T20:47:47.555Z,1750884467.555 [DAT](INFO): DAT read: Range 10 to 50 : 163.8 m  (Round-trip  218.4 ms) speed  0.4 m/s

2025-06-25T20:47:47.562Z,1750884467.562 [DAT](INFO): DAT read: user:684>

2025-06-25T20:47:47.567Z,1750884467.567 [DAT](INFO): DAT read: Tx time:20:47:48.8383

2025-06-25T20:47:47.581Z,1750884467.581 [DAT](INFO): Ping request sent.
2025-06-25T20:47:47.582Z,1750884467.582 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:47.586Z,1750884467.586 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:47.593Z,1750884467.593 [DAT](INFO): direction in FSK: [0.982337,-0.034304,-0.183951]
2025-06-25T20:47:47.593Z,1750884467.593 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:47.594Z,1750884467.594 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:47.598Z,1750884467.598 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:47.598Z,1750884467.598 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:47.789Z,1750884467.789 [DAT](INFO): DAT read: TxSync time:20:47:48.8375

2025-06-25T20:47:47.799Z,1750884467.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 163.800003 m,
      deltaT: 7.559236 s,
      deltaX: -26.699997 m,
      approachRate: -3.532103 m/s,
      rangeRepo size: 4

2025-06-25T20:47:47.805Z,1750884467.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 162.240250 m,
      bearing: 240.344690 deg,
      lat: 36.906166 deg,
      lon: -122.116511 deg,
      deltaT: 7.559236 s,
      deltaX: -26.445862 m,
      approachRate: -3.498483 m/s,
      posRepo size: 4

2025-06-25T20:47:47.806Z,1750884467.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:47.813Z,1750884467.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 177.366837 m,
      bearing: 239.221016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003570 deg/s,
      cmd heading: 241.083275 deg,
      new cmd heading: 241.086840 deg.

2025-06-25T20:47:47.814Z,1750884467.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207759 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:48.218Z,1750884468.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:48.235Z,1750884468.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 177.075928 m,
      bearing: 239.224233 deg,
      approach rate: -0.703545 m/s,
      LOS rate: 0.007792 deg/s,
      cmd heading: 241.086854 deg,
      new cmd heading: 241.096519 deg.

2025-06-25T20:47:48.243Z,1750884468.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207928 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:48.615Z,1750884468.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:48.619Z,1750884468.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 176.771423 m,
      bearing: 239.226340 deg,
      approach rate: -0.754766 m/s,
      LOS rate: 0.005231 deg/s,
      cmd heading: 241.096525 deg,
      new cmd heading: 241.102857 deg.

2025-06-25T20:47:48.620Z,1750884468.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208039 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:48.990Z,1750884468.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:48.993Z,1750884468.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 176.506836 m,
      bearing: 239.228187 deg,
      approach rate: -0.705941 m/s,
      LOS rate: 0.004937 deg/s,
      cmd heading: 241.102864 deg,
      new cmd heading: 241.108414 deg.

2025-06-25T20:47:48.994Z,1750884468.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208136 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:49.430Z,1750884469.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:49.437Z,1750884469.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 176.214035 m,
      bearing: 239.230261 deg,
      approach rate: -0.665003 m/s,
      LOS rate: 0.004717 deg/s,
      cmd heading: 241.108410 deg,
      new cmd heading: 241.114641 deg.

2025-06-25T20:47:49.438Z,1750884469.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208244 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:49.795Z,1750884469.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:49.797Z,1750884469.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:49.800Z,1750884469.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 175.944763 m,
      bearing: 239.232206 deg,
      approach rate: -0.734419 m/s,
      LOS rate: 0.005315 deg/s,
      cmd heading: 241.114639 deg,
      new cmd heading: 241.120485 deg.

2025-06-25T20:47:49.801Z,1750884469.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208346 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:49.805Z,1750884469.805 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:49.805Z,1750884469.805 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:49.805Z,1750884469.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:50.057Z,1750884470.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475406
2025-06-25T20:47:50.245Z,1750884470.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:50.275Z,1750884470.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 175.652039 m,
      bearing: 239.234416 deg,
      approach rate: -0.657167 m/s,
      LOS rate: 0.004970 deg/s,
      cmd heading: 241.120486 deg,
      new cmd heading: 241.127127 deg.

2025-06-25T20:47:50.281Z,1750884470.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208462 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:50.309Z,1750884470.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727304
2025-06-25T20:47:50.561Z,1750884470.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979237
2025-06-25T20:47:50.633Z,1750884470.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:50.637Z,1750884470.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 175.357773 m,
      bearing: 239.234856 deg,
      approach rate: -0.753598 m/s,
      LOS rate: 0.001126 deg/s,
      cmd heading: 241.127124 deg,
      new cmd heading: 241.128444 deg.

2025-06-25T20:47:50.639Z,1750884470.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208485 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:50.813Z,1750884470.813 [DAT](INFO): DAT read: Rx Time:20:47:51.4576

2025-06-25T20:47:50.813Z,1750884470.813 [DAT](INFO): Rx dataTimestamp_ set to:1750884470.813141
2025-06-25T20:47:50.814Z,1750884470.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232376
2025-06-25T20:47:51.009Z,1750884471.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.24 m.
2025-06-25T20:47:51.012Z,1750884471.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.240250 m,
      nav range: 175.089096 m,
      bearing: 239.235253 deg,
      approach rate: -0.714307 m/s,
      LOS rate: 0.001058 deg/s,
      cmd heading: 241.128436 deg,
      new cmd heading: 241.129630 deg.

2025-06-25T20:47:51.013Z,1750884471.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208506 target range: 162.240250 and range: 163.80 m.
2025-06-25T20:47:51.066Z,1750884471.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483997
2025-06-25T20:47:51.323Z,1750884471.323 [DAT](INFO): DAT read: 20:47:51.4576 LVL= 29168, 32753, 26834, 32755, AGC= 69, IDX= 405, 0.32,-1.107,-2.504,-1.050,-1.550, PHS= 0.530,-0.907, 0.497, RAW= 148.8,  -1.7, CAL= 152.7, -10.6, ROT= 357.3,  10.6

2025-06-25T20:47:51.324Z,1750884471.324 [DAT](INFO): got valid direction response:
 20:47:51.4576 LVL= 29168, 32753, 26834, 32755, AGC= 69, IDX= 405, 0.32,-1.107,-2.504,-1.050,-1.550, PHS= 0.530,-0.907, 0.497, RAW= 148.8,  -1.7, CAL= 152.7, -10.6, ROT= 357.3,  10.6

2025-06-25T20:47:51.325Z,1750884471.325 [DAT](INFO): DAT read: Bearing 357.3,  10.6 (Local)

2025-06-25T20:47:51.325Z,1750884471.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  10.6 (Local)

2025-06-25T20:47:51.327Z,1750884471.327 [DAT](INFO): DAT read: Range 10 to 50 : 161.2 m  (Round-trip  215.0 ms) speed  0.0 m/s

2025-06-25T20:47:51.327Z,1750884471.327 [DAT](INFO): DAT read: user:685>

2025-06-25T20:47:51.328Z,1750884471.328 [DAT](INFO): DAT read: Tx time:20:47:52.5884

2025-06-25T20:47:51.328Z,1750884471.328 [DAT](INFO): Ping request sent.
2025-06-25T20:47:51.328Z,1750884471.328 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:51.329Z,1750884471.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:51.330Z,1750884471.330 [DAT](INFO): direction in FSK: [0.981844,-0.046303,-0.183951]
2025-06-25T20:47:51.330Z,1750884471.330 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:51.330Z,1750884471.330 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:51.333Z,1750884471.333 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:51.334Z,1750884471.334 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:51.523Z,1750884471.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.199997 m,
      deltaT: 3.779315 s,
      deltaX: -2.600006 m,
      approachRate: -0.687957 m/s,
      rangeRepo size: 4

2025-06-25T20:47:51.529Z,1750884471.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.665100 m,
      bearing: 239.373239 deg,
      lat: 36.906250 deg,
      lon: -122.116375 deg,
      deltaT: 3.779315 s,
      deltaX: -2.575150 m,
      approachRate: -0.681380 m/s,
      posRepo size: 4

2025-06-25T20:47:51.530Z,1750884471.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:51.537Z,1750884471.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 159.579773 m,
      bearing: 239.866788 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001058 deg/s,
      cmd heading: 241.129638 deg,
      new cmd heading: 241.131246 deg.

2025-06-25T20:47:51.538Z,1750884471.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208534 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:51.572Z,1750884471.572 [DAT](INFO): DAT read: TxSync time:20:47:52.5876

2025-06-25T20:47:51.815Z,1750884471.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:51.817Z,1750884471.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:51.821Z,1750884471.821 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:51.821Z,1750884471.821 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:51.821Z,1750884471.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:51.823Z,1750884471.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 159.357651 m,
      bearing: 239.866570 deg,
      approach rate: -0.735740 m/s,
      LOS rate: -0.000723 deg/s,
      cmd heading: 241.131250 deg,
      new cmd heading: 241.130595 deg.

2025-06-25T20:47:51.825Z,1750884471.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208523 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:52.073Z,1750884472.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744243
2025-06-25T20:47:52.236Z,1750884472.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:52.239Z,1750884472.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 159.075989 m,
      bearing: 239.866427 deg,
      approach rate: -0.673444 m/s,
      LOS rate: -0.000343 deg/s,
      cmd heading: 241.130594 deg,
      new cmd heading: 241.130164 deg.

2025-06-25T20:47:52.240Z,1750884472.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208515 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:52.325Z,1750884472.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996108
2025-06-25T20:47:52.579Z,1750884472.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250455
2025-06-25T20:47:52.674Z,1750884472.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:52.677Z,1750884472.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 158.764816 m,
      bearing: 239.867027 deg,
      approach rate: -0.709401 m/s,
      LOS rate: 0.001370 deg/s,
      cmd heading: 241.130157 deg,
      new cmd heading: 241.131960 deg.

2025-06-25T20:47:52.678Z,1750884472.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208547 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:52.833Z,1750884472.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504757
2025-06-25T20:47:53.044Z,1750884473.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:53.047Z,1750884473.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 158.511749 m,
      bearing: 239.867517 deg,
      approach rate: -0.683841 m/s,
      LOS rate: 0.001325 deg/s,
      cmd heading: 241.131960 deg,
      new cmd heading: 241.133431 deg.

2025-06-25T20:47:53.048Z,1750884473.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208572 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:53.082Z,1750884473.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752868
2025-06-25T20:47:53.336Z,1750884473.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006411
2025-06-25T20:47:53.447Z,1750884473.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:53.449Z,1750884473.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 158.244034 m,
      bearing: 239.870071 deg,
      approach rate: -0.665593 m/s,
      LOS rate: 0.006361 deg/s,
      cmd heading: 241.133436 deg,
      new cmd heading: 241.141111 deg.

2025-06-25T20:47:53.450Z,1750884473.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208706 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:53.585Z,1750884473.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256682
2025-06-25T20:47:53.830Z,1750884473.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:53.837Z,1750884473.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508252
2025-06-25T20:47:53.852Z,1750884473.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:53.855Z,1750884473.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 157.988220 m,
      bearing: 239.872475 deg,
      approach rate: -0.664028 m/s,
      LOS rate: 0.006250 deg/s,
      cmd heading: 241.141113 deg,
      new cmd heading: 241.148336 deg.

2025-06-25T20:47:53.864Z,1750884473.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208832 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:54.089Z,1750884474.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760314
2025-06-25T20:47:54.244Z,1750884474.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:54.246Z,1750884474.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 157.714462 m,
      bearing: 239.875012 deg,
      approach rate: -0.664995 m/s,
      LOS rate: 0.006173 deg/s,
      cmd heading: 241.148325 deg,
      new cmd heading: 241.155949 deg.

2025-06-25T20:47:54.247Z,1750884474.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208965 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:54.342Z,1750884474.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013742
2025-06-25T20:47:54.593Z,1750884474.593 [DAT](INFO): DAT read: Rx Time:20:47:55.2041

2025-06-25T20:47:54.593Z,1750884474.593 [DAT](INFO): Rx dataTimestamp_ set to:1750884474.592997
2025-06-25T20:47:54.594Z,1750884474.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265330
2025-06-25T20:47:54.688Z,1750884474.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:54.691Z,1750884474.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 157.425858 m,
      bearing: 239.877615 deg,
      approach rate: -0.649328 m/s,
      LOS rate: 0.005869 deg/s,
      cmd heading: 241.155948 deg,
      new cmd heading: 241.163773 deg.

2025-06-25T20:47:54.692Z,1750884474.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209102 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:54.845Z,1750884474.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516303
2025-06-25T20:47:55.064Z,1750884475.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.67 m.
2025-06-25T20:47:55.067Z,1750884475.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.665100 m,
      nav range: 157.181244 m,
      bearing: 239.879830 deg,
      approach rate: -0.649792 m/s,
      LOS rate: 0.005891 deg/s,
      cmd heading: 241.163762 deg,
      new cmd heading: 241.170415 deg.

2025-06-25T20:47:55.068Z,1750884475.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209218 target range: 159.665100 and range: 161.20 m.
2025-06-25T20:47:55.105Z,1750884475.105 [DAT](INFO): DAT read: 20:47:55.2041 LVL= 24672, 32753, 20626, 32755, AGC= 67, IDX= 402,-0.44, 0.069,-1.294, 0.100,-0.346, PHS= 0.503,-0.901, 0.443, RAW= 147.8,  -0.7, CAL= 151.5,  -9.6, ROT= 358.5,   9.6

2025-06-25T20:47:55.109Z,1750884475.109 [DAT](INFO): got valid direction response:
 20:47:55.2041 LVL= 24672, 32753, 20626, 32755, AGC= 67, IDX= 402,-0.44, 0.069,-1.294, 0.100,-0.346, PHS= 0.503,-0.901, 0.443, RAW= 147.8,  -0.7, CAL= 151.5,  -9.6, ROT= 358.5,   9.6

2025-06-25T20:47:55.112Z,1750884475.112 [DAT](INFO): DAT read: Bearing 358.5,   9.6 (Local)

2025-06-25T20:47:55.112Z,1750884475.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   9.6 (Local)

2025-06-25T20:47:55.115Z,1750884475.115 [DAT](INFO): DAT read: Range 10 to 50 : 158.6 m  (Round-trip  211.5 ms) speed  0.5 m/s

2025-06-25T20:47:55.124Z,1750884475.124 [DAT](INFO): DAT read: user:686>

2025-06-25T20:47:55.125Z,1750884475.125 [DAT](INFO): DAT read: Tx time:20:47:56.2884

2025-06-25T20:47:55.126Z,1750884475.126 [DAT](INFO): Ping request sent.
2025-06-25T20:47:55.126Z,1750884475.126 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:55.127Z,1750884475.127 [DAT](INFO): DAT read: TxSync time:20:47:56.2876

2025-06-25T20:47:55.127Z,1750884475.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:47:55.128Z,1750884475.128 [DAT](INFO): direction in FSK: [0.985658,-0.025811,-0.166769]
2025-06-25T20:47:55.129Z,1750884475.129 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:55.129Z,1750884475.129 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:55.141Z,1750884475.141 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:55.141Z,1750884475.141 [DAT](INFO): publishing direction and range info
2025-06-25T20:47:55.507Z,1750884475.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.600006 m,
      deltaT: 3.780117 s,
      deltaX: -2.599991 m,
      approachRate: -0.687807 m/s,
      rangeRepo size: 4

2025-06-25T20:47:55.514Z,1750884475.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.089951 m,
      bearing: 240.478931 deg,
      lat: 36.906270 deg,
      lon: -122.116366 deg,
      deltaT: 3.780117 s,
      deltaX: -2.575150 m,
      approachRate: -0.681235 m/s,
      posRepo size: 4

2025-06-25T20:47:55.514Z,1750884475.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:55.521Z,1750884475.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 155.089188 m,
      bearing: 240.479496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005891 deg/s,
      cmd heading: 241.170428 deg,
      new cmd heading: 241.178244 deg.

2025-06-25T20:47:55.522Z,1750884475.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209354 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:55.851Z,1750884475.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:55.853Z,1750884475.853 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:55.853Z,1750884475.853 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:55.853Z,1750884475.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:55.856Z,1750884475.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:55.859Z,1750884475.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 154.853577 m,
      bearing: 240.484548 deg,
      approach rate: -0.673596 m/s,
      LOS rate: 0.014465 deg/s,
      cmd heading: 241.178242 deg,
      new cmd heading: 241.193420 deg.

2025-06-25T20:47:55.860Z,1750884475.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209620 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:56.105Z,1750884476.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978970
2025-06-25T20:47:56.272Z,1750884476.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:56.274Z,1750884476.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 154.589050 m,
      bearing: 240.490243 deg,
      approach rate: -0.637193 m/s,
      LOS rate: 0.013741 deg/s,
      cmd heading: 241.193432 deg,
      new cmd heading: 241.210546 deg.

2025-06-25T20:47:56.275Z,1750884476.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209918 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:56.359Z,1750884476.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232525
2025-06-25T20:47:56.609Z,1750884476.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482883
2025-06-25T20:47:56.721Z,1750884476.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:56.723Z,1750884476.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 154.303223 m,
      bearing: 240.496808 deg,
      approach rate: -0.636579 m/s,
      LOS rate: 0.014648 deg/s,
      cmd heading: 241.210535 deg,
      new cmd heading: 241.230266 deg.

2025-06-25T20:47:56.729Z,1750884476.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210262 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:56.861Z,1750884476.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734886
2025-06-25T20:47:57.070Z,1750884477.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:57.073Z,1750884477.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 154.060257 m,
      bearing: 240.502256 deg,
      approach rate: -0.695920 m/s,
      LOS rate: 0.015628 deg/s,
      cmd heading: 241.230260 deg,
      new cmd heading: 241.246629 deg.

2025-06-25T20:47:57.074Z,1750884477.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210548 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:57.113Z,1750884477.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987002
2025-06-25T20:47:57.371Z,1750884477.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245076
2025-06-25T20:47:57.498Z,1750884477.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:57.501Z,1750884477.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 153.772354 m,
      bearing: 240.508292 deg,
      approach rate: -0.672081 m/s,
      LOS rate: 0.014119 deg/s,
      cmd heading: 241.246625 deg,
      new cmd heading: 241.264770 deg.

2025-06-25T20:47:57.502Z,1750884477.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210865 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:57.621Z,1750884477.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495019
2025-06-25T20:47:57.871Z,1750884477.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:57.873Z,1750884477.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747056
2025-06-25T20:47:57.875Z,1750884477.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:57.877Z,1750884477.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 153.522659 m,
      bearing: 240.513410 deg,
      approach rate: -0.663366 m/s,
      LOS rate: 0.013619 deg/s,
      cmd heading: 241.264766 deg,
      new cmd heading: 241.280145 deg.

2025-06-25T20:47:57.878Z,1750884477.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211133 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:58.126Z,1750884478.126 [DAT](INFO): DAT read: Rx Time:20:47:58.9318

2025-06-25T20:47:58.127Z,1750884478.127 [DAT](INFO): Rx dataTimestamp_ set to:1750884478.126686
2025-06-25T20:47:58.129Z,1750884478.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002394
2025-06-25T20:47:58.280Z,1750884478.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:58.283Z,1750884478.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 153.251053 m,
      bearing: 240.518883 deg,
      approach rate: -0.669947 m/s,
      LOS rate: 0.013523 deg/s,
      cmd heading: 241.280148 deg,
      new cmd heading: 241.296595 deg.

2025-06-25T20:47:58.300Z,1750884478.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211420 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:58.380Z,1750884478.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253667
2025-06-25T20:47:58.631Z,1750884478.631 [DAT](INFO): DAT read: Range 10 to 50 : 179.4 m  (Round-trip  239.2 ms) speed  0.8 m/s

2025-06-25T20:47:58.633Z,1750884478.633 [DAT](INFO): DAT read: user:687>

2025-06-25T20:47:58.634Z,1750884478.634 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:47:58.635Z,1750884478.635 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:47:58.635Z,1750884478.635 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:47:58.636Z,1750884478.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:47:58.745Z,1750884478.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 179.399994 m,
 deltaT: 3.532196 s,
 deltaX: 20.799988 m,
 approachRate: 5.888684 m/s,
 rangeRepo size: 4
2025-06-25T20:47:58.746Z,1750884478.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:58.753Z,1750884478.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 152.944473 m,
      bearing: 240.523165 deg,
      approach rate: -0.660041 m/s,
      LOS rate: 0.009237 deg/s,
      cmd heading: 241.296595 deg,
      new cmd heading: 241.309467 deg.

2025-06-25T20:47:58.754Z,1750884478.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211645 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:58.881Z,1750884478.881 [DAT](INFO): DAT read: Tx time:20:48:00.0384

2025-06-25T20:47:58.881Z,1750884478.881 [DAT](INFO): Ping request sent.
2025-06-25T20:47:58.881Z,1750884478.881 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:47:58.882Z,1750884478.882 [DAT](INFO): DAT read: TxSync time:20:48:00.0376

2025-06-25T20:47:58.883Z,1750884478.883 [DAT](INFO): publishing transmit ping time
2025-06-25T20:47:58.883Z,1750884478.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001604
2025-06-25T20:47:59.103Z,1750884479.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:59.106Z,1750884479.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 152.720276 m,
      bearing: 240.526243 deg,
      approach rate: -0.624641 m/s,
      LOS rate: 0.008588 deg/s,
      cmd heading: 241.309463 deg,
      new cmd heading: 241.318711 deg.

2025-06-25T20:47:59.107Z,1750884479.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211806 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:59.133Z,1750884479.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251573
2025-06-25T20:47:59.387Z,1750884479.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505228
2025-06-25T20:47:59.528Z,1750884479.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:59.530Z,1750884479.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 152.422699 m,
      bearing: 240.528319 deg,
      approach rate: -0.701452 m/s,
      LOS rate: 0.004903 deg/s,
      cmd heading: 241.318698 deg,
      new cmd heading: 241.324938 deg.

2025-06-25T20:47:59.531Z,1750884479.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211915 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:47:59.638Z,1750884479.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756052
2025-06-25T20:47:59.889Z,1750884479.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007114
2025-06-25T20:47:59.930Z,1750884479.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:47:59.942Z,1750884479.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:47:59.952Z,1750884479.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 152.167862 m,
      bearing: 240.530140 deg,
      approach rate: -0.615606 m/s,
      LOS rate: 0.004406 deg/s,
      cmd heading: 241.324927 deg,
      new cmd heading: 241.330399 deg.

2025-06-25T20:47:59.953Z,1750884479.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212010 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:00.141Z,1750884480.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259387
2025-06-25T20:48:00.303Z,1750884480.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:48:00.306Z,1750884480.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 151.902771 m,
      bearing: 240.532107 deg,
      approach rate: -0.733148 m/s,
      LOS rate: 0.005450 deg/s,
      cmd heading: 241.330391 deg,
      new cmd heading: 241.336303 deg.

2025-06-25T20:48:00.307Z,1750884480.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212113 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:00.397Z,1750884480.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514133
2025-06-25T20:48:00.646Z,1750884480.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764012
2025-06-25T20:48:00.754Z,1750884480.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:48:00.761Z,1750884480.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 151.602768 m,
      bearing: 240.533165 deg,
      approach rate: -0.665653 m/s,
      LOS rate: 0.002352 deg/s,
      cmd heading: 241.336292 deg,
      new cmd heading: 241.339472 deg.

2025-06-25T20:48:00.762Z,1750884480.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212168 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:00.897Z,1750884480.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015260
2025-06-25T20:48:01.108Z,1750884481.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:48:01.111Z,1750884481.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 151.356842 m,
      bearing: 240.534050 deg,
      approach rate: -0.694271 m/s,
      LOS rate: 0.002503 deg/s,
      cmd heading: 241.339461 deg,
      new cmd heading: 241.342121 deg.

2025-06-25T20:48:01.112Z,1750884481.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212214 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:01.149Z,1750884481.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267925
2025-06-25T20:48:01.177Z,1750884481.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:48:01.403Z,1750884481.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521232
2025-06-25T20:48:01.557Z,1750884481.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:48:01.560Z,1750884481.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 151.045029 m,
      bearing: 240.534404 deg,
      approach rate: -0.693864 m/s,
      LOS rate: 0.000790 deg/s,
      cmd heading: 241.342112 deg,
      new cmd heading: 241.343177 deg.

2025-06-25T20:48:01.561Z,1750884481.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212233 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:01.654Z,1750884481.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771861
2025-06-25T20:48:01.907Z,1750884481.907 [DAT](INFO): DAT read: Rx Time:20:48:02.6784

2025-06-25T20:48:01.909Z,1750884481.909 [DAT](INFO): Rx dataTimestamp_ set to:1750884481.907386
2025-06-25T20:48:01.911Z,1750884481.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028869
2025-06-25T20:48:01.946Z,1750884481.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:01.953Z,1750884481.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:48:01.955Z,1750884481.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 150.798996 m,
      bearing: 240.534597 deg,
      approach rate: -0.622638 m/s,
      LOS rate: 0.000489 deg/s,
      cmd heading: 241.343177 deg,
      new cmd heading: 241.343757 deg.

2025-06-25T20:48:01.964Z,1750884481.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212243 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:02.157Z,1750884482.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275217
2025-06-25T20:48:02.185Z,1750884482.185 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:48:02.321Z,1750884482.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.09 m.
2025-06-25T20:48:02.325Z,1750884482.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.089951 m,
      nav range: 150.514587 m,
      bearing: 240.534730 deg,
      approach rate: -0.770914 m/s,
      LOS rate: 0.000360 deg/s,
      cmd heading: 241.343751 deg,
      new cmd heading: 241.344149 deg.

2025-06-25T20:48:02.326Z,1750884482.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212250 target range: 157.089951 and range: 158.60 m.
2025-06-25T20:48:02.451Z,1750884482.451 [DAT](INFO): DAT read: 20:48:02.6784 LVL= 32752, 32753, 30082, 32755, AGC= 68, IDX=  93, 0.04,-0.292,-1.628,-0.284,-0.681, PHS= 0.477,-0.900, 0.394, RAW= 146.9,   0.4, CAL= 150.4,  -8.5, ROT= 359.6,   8.5

2025-06-25T20:48:02.464Z,1750884482.464 [DAT](INFO): got valid direction response:
 20:48:02.6784 LVL= 32752, 32753, 30082, 32755, AGC= 68, IDX=  93, 0.04,-0.292,-1.628,-0.284,-0.681, PHS= 0.477,-0.900, 0.394, RAW= 146.9,   0.4, CAL= 150.4,  -8.5, ROT= 359.6,   8.5

2025-06-25T20:48:02.465Z,1750884482.465 [DAT](INFO): DAT read: Bearing 359.6,   8.5 (Local)

2025-06-25T20:48:02.466Z,1750884482.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,   8.5 (Local)

2025-06-25T20:48:02.467Z,1750884482.467 [DAT](INFO): DAT read: Range 10 to 50 : 176.8 m  (Round-trip  235.8 ms) speed  0.7 m/s

2025-06-25T20:48:02.472Z,1750884482.472 [DAT](INFO): DAT read: user:688>

2025-06-25T20:48:02.473Z,1750884482.473 [DAT](INFO): DAT read: Tx time:20:48:03.7884

2025-06-25T20:48:02.473Z,1750884482.473 [DAT](INFO): Ping request sent.
2025-06-25T20:48:02.473Z,1750884482.473 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:02.474Z,1750884482.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:02.474Z,1750884482.474 [DAT](INFO): direction in FSK: [0.988992,-0.006904,-0.147809]
2025-06-25T20:48:02.475Z,1750884482.475 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:02.475Z,1750884482.475 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:02.482Z,1750884482.482 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:02.483Z,1750884482.483 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:02.663Z,1750884482.663 [DAT](INFO): DAT read: TxSync time:20:48:03.7876

2025-06-25T20:48:02.807Z,1750884482.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.800003 m,
      deltaT: 7.316105 s,
      deltaX: 18.199997 m,
      approachRate: 2.487662 m/s,
      rangeRepo size: 4

2025-06-25T20:48:02.813Z,1750884482.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.116516 m,
      bearing: 241.863135 deg,
      lat: 36.906270 deg,
      lon: -122.116366 deg,
      deltaT: 7.316105 s,
      deltaX: 18.026566 m,
      approachRate: 2.463957 m/s,
      posRepo size: 4

2025-06-25T20:48:02.814Z,1750884482.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:02.821Z,1750884482.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 150.195343 m,
      bearing: 240.532621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000360 deg/s,
      cmd heading: 241.344161 deg,
      new cmd heading: 241.344684 deg.

2025-06-25T20:48:02.822Z,1750884482.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212259 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:03.147Z,1750884483.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:03.150Z,1750884483.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 149.943222 m,
      bearing: 240.530949 deg,
      approach rate: -0.739787 m/s,
      LOS rate: -0.004914 deg/s,
      cmd heading: 241.344680 deg,
      new cmd heading: 241.339655 deg.

2025-06-25T20:48:03.151Z,1750884483.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212172 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:03.617Z,1750884483.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:03.620Z,1750884483.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 149.621735 m,
      bearing: 240.529269 deg,
      approach rate: -0.685756 m/s,
      LOS rate: -0.003592 deg/s,
      cmd heading: 241.339653 deg,
      new cmd heading: 241.334601 deg.

2025-06-25T20:48:03.621Z,1750884483.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212083 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:03.974Z,1750884483.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:03.976Z,1750884483.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:03.979Z,1750884483.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 149.369598 m,
      bearing: 240.527890 deg,
      approach rate: -0.700869 m/s,
      LOS rate: -0.003838 deg/s,
      cmd heading: 241.334598 deg,
      new cmd heading: 241.330456 deg.

2025-06-25T20:48:03.980Z,1750884483.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212011 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:04.173Z,1750884484.173 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:04.173Z,1750884484.173 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:04.173Z,1750884484.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:04.393Z,1750884484.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:04.395Z,1750884484.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 149.080368 m,
      bearing: 240.526183 deg,
      approach rate: -0.693996 m/s,
      LOS rate: -0.004104 deg/s,
      cmd heading: 241.330446 deg,
      new cmd heading: 241.325314 deg.

2025-06-25T20:48:04.396Z,1750884484.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211921 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:04.428Z,1750884484.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953870
2025-06-25T20:48:04.677Z,1750884484.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203559
2025-06-25T20:48:04.829Z,1750884484.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:04.831Z,1750884484.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 148.802536 m,
      bearing: 240.525235 deg,
      approach rate: -0.637196 m/s,
      LOS rate: -0.002178 deg/s,
      cmd heading: 241.325309 deg,
      new cmd heading: 241.322460 deg.

2025-06-25T20:48:04.836Z,1750884484.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211872 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:04.929Z,1750884484.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455535
2025-06-25T20:48:05.181Z,1750884485.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707564
2025-06-25T20:48:05.186Z,1750884485.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:05.189Z,1750884485.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 148.545273 m,
      bearing: 240.524391 deg,
      approach rate: -0.719539 m/s,
      LOS rate: -0.002366 deg/s,
      cmd heading: 241.322468 deg,
      new cmd heading: 241.319930 deg.

2025-06-25T20:48:05.190Z,1750884485.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211827 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:05.436Z,1750884485.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962123
2025-06-25T20:48:05.624Z,1750884485.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:05.627Z,1750884485.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 148.245361 m,
      bearing: 240.525637 deg,
      approach rate: -0.685128 m/s,
      LOS rate: 0.002854 deg/s,
      cmd heading: 241.319927 deg,
      new cmd heading: 241.323674 deg.

2025-06-25T20:48:05.628Z,1750884485.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211893 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:05.685Z,1750884485.685 [DAT](INFO): DAT read: Rx Time:20:48:06.3940

2025-06-25T20:48:05.685Z,1750884485.685 [DAT](INFO): Rx dataTimestamp_ set to:1750884485.685103
2025-06-25T20:48:05.686Z,1750884485.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212648
2025-06-25T20:48:05.937Z,1750884485.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463452
2025-06-25T20:48:05.992Z,1750884485.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:05.994Z,1750884485.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:05.997Z,1750884485.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 147.987946 m,
      bearing: 240.526755 deg,
      approach rate: -0.695046 m/s,
      LOS rate: 0.003024 deg/s,
      cmd heading: 241.323670 deg,
      new cmd heading: 241.327029 deg.

2025-06-25T20:48:05.998Z,1750884485.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211951 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:06.195Z,1750884486.195 [DAT](INFO): DAT read: 20:48:06.3940 LVL= 27552, 32753, 21794, 32755, AGC= 66, IDX=  90, 0.17,-0.724,-2.094,-0.651,-1.161, PHS= 0.526,-0.886, 0.508, RAW= 149.4,  -2.1, CAL= 153.3, -10.9, ROT= 356.7,  10.9

2025-06-25T20:48:06.197Z,1750884486.197 [DAT](INFO): got valid direction response:
 20:48:06.3940 LVL= 27552, 32753, 21794, 32755, AGC= 66, IDX=  90, 0.17,-0.724,-2.094,-0.651,-1.161, PHS= 0.526,-0.886, 0.508, RAW= 149.4,  -2.1, CAL= 153.3, -10.9, ROT= 356.7,  10.9

2025-06-25T20:48:06.198Z,1750884486.198 [DAT](INFO): DAT read: Bearing 356.7,  10.9 (Local)

2025-06-25T20:48:06.198Z,1750884486.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  10.9 (Local)

2025-06-25T20:48:06.199Z,1750884486.199 [DAT](INFO): DAT read: Range 10 to 50 : 150.9 m  (Round-trip  201.3 ms) speed  0.4 m/s

2025-06-25T20:48:06.200Z,1750884486.200 [DAT](INFO): DAT read: user:689>

2025-06-25T20:48:06.201Z,1750884486.201 [DAT](INFO): DAT read: Tx time:20:48:07.4885

2025-06-25T20:48:06.201Z,1750884486.201 [DAT](INFO): Ping request sent.
2025-06-25T20:48:06.201Z,1750884486.201 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:06.202Z,1750884486.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:06.203Z,1750884486.203 [DAT](INFO): direction in FSK: [0.980330,-0.056525,-0.189095]
2025-06-25T20:48:06.203Z,1750884486.203 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:06.203Z,1750884486.203 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:06.209Z,1750884486.209 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:06.209Z,1750884486.209 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:06.422Z,1750884486.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 150.899994 m,
 deltaT: 3.775826 s,
 deltaX: -25.900009 m,
 approachRate: -6.859429 m/s,
 rangeRepo size: 4
2025-06-25T20:48:06.423Z,1750884486.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:06.441Z,1750884486.441 [DAT](INFO): DAT read: TxSync time:20:48:07.4877

2025-06-25T20:48:06.442Z,1750884486.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 147.704758 m,
      bearing: 240.528025 deg,
      approach rate: -0.662943 m/s,
      LOS rate: 0.002979 deg/s,
      cmd heading: 241.327030 deg,
      new cmd heading: 241.330848 deg.

2025-06-25T20:48:06.443Z,1750884486.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212018 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:06.838Z,1750884486.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:06.846Z,1750884486.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 147.422470 m,
      bearing: 240.531940 deg,
      approach rate: -0.676877 m/s,
      LOS rate: 0.009406 deg/s,
      cmd heading: 241.330855 deg,
      new cmd heading: 241.342624 deg.

2025-06-25T20:48:06.847Z,1750884486.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212224 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:07.210Z,1750884487.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:07.213Z,1750884487.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 147.154587 m,
      bearing: 240.535784 deg,
      approach rate: -0.720504 m/s,
      LOS rate: 0.010356 deg/s,
      cmd heading: 241.342631 deg,
      new cmd heading: 241.354182 deg.

2025-06-25T20:48:07.214Z,1750884487.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212425 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:07.701Z,1750884487.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:07.708Z,1750884487.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 146.823395 m,
      bearing: 240.543908 deg,
      approach rate: -0.682133 m/s,
      LOS rate: 0.016771 deg/s,
      cmd heading: 241.354187 deg,
      new cmd heading: 241.378616 deg.

2025-06-25T20:48:07.709Z,1750884487.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212852 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:08.018Z,1750884488.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:08.020Z,1750884488.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:08.023Z,1750884488.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 146.593307 m,
      bearing: 240.549533 deg,
      approach rate: -0.710159 m/s,
      LOS rate: 0.017387 deg/s,
      cmd heading: 241.378612 deg,
      new cmd heading: 241.395512 deg.

2025-06-25T20:48:08.024Z,1750884488.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213147 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:08.204Z,1750884488.204 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:08.205Z,1750884488.205 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:08.205Z,1750884488.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:08.433Z,1750884488.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:08.436Z,1750884488.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 146.305908 m,
      bearing: 240.556583 deg,
      approach rate: -0.694713 m/s,
      LOS rate: 0.017075 deg/s,
      cmd heading: 241.395524 deg,
      new cmd heading: 241.416715 deg.

2025-06-25T20:48:08.437Z,1750884488.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213517 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:08.457Z,1750884488.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255515
2025-06-25T20:48:08.709Z,1750884488.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507392
2025-06-25T20:48:08.862Z,1750884488.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:08.869Z,1750884488.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 146.024338 m,
      bearing: 240.563941 deg,
      approach rate: -0.657244 m/s,
      LOS rate: 0.017208 deg/s,
      cmd heading: 241.416725 deg,
      new cmd heading: 241.438841 deg.

2025-06-25T20:48:08.870Z,1750884488.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213903 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:08.961Z,1750884488.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759460
2025-06-25T20:48:09.213Z,1750884489.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011567
2025-06-25T20:48:09.226Z,1750884489.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:09.229Z,1750884489.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 145.758926 m,
      bearing: 240.570879 deg,
      approach rate: -0.727856 m/s,
      LOS rate: 0.019061 deg/s,
      cmd heading: 241.438854 deg,
      new cmd heading: 241.459706 deg.

2025-06-25T20:48:09.230Z,1750884489.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214267 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:09.465Z,1750884489.465 [DAT](INFO): DAT read: Rx Time:20:48:10.0906

2025-06-25T20:48:09.466Z,1750884489.466 [DAT](INFO): Rx dataTimestamp_ set to:1750884489.465547
2025-06-25T20:48:09.467Z,1750884489.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265330
2025-06-25T20:48:09.702Z,1750884489.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m.
2025-06-25T20:48:09.709Z,1750884489.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.116516 m,
      nav range: 145.441544 m,
      bearing: 240.579682 deg,
      approach rate: -0.666894 m/s,
      LOS rate: 0.018538 deg/s,
      cmd heading: 241.459700 deg,
      new cmd heading: 241.486167 deg.

2025-06-25T20:48:09.710Z,1750884489.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214729 target range: 175.116516 and range: 176.80 m.
2025-06-25T20:48:09.717Z,1750884489.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515762
2025-06-25T20:48:09.975Z,1750884489.975 [DAT](INFO): DAT read: 20:48:10.0906 LVL= 25008, 32753, 22258, 32755, AGC= 66, IDX= 407,-0.42, 2.646, 1.183, 2.685, 2.197, PHS= 0.537,-0.966, 0.485, RAW= 148.3,  -0.8, CAL= 151.9,  -9.7, ROT= 358.1,   9.7

2025-06-25T20:48:09.976Z,1750884489.976 [DAT](INFO): got valid direction response:
 20:48:10.0906 LVL= 25008, 32753, 22258, 32755, AGC= 66, IDX= 407,-0.42, 2.646, 1.183, 2.685, 2.197, PHS= 0.537,-0.966, 0.485, RAW= 148.3,  -0.8, CAL= 151.9,  -9.7, ROT= 358.1,   9.7

2025-06-25T20:48:09.977Z,1750884489.977 [DAT](INFO): DAT read: Bearing 358.1,   9.7 (Local)

2025-06-25T20:48:09.977Z,1750884489.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,   9.7 (Local)

2025-06-25T20:48:09.979Z,1750884489.979 [DAT](INFO): DAT read: Range 10 to 50 : 148.4 m  (Round-trip  197.9 ms) speed  0.6 m/s

2025-06-25T20:48:09.979Z,1750884489.979 [DAT](INFO): DAT read: user:690>

2025-06-25T20:48:09.992Z,1750884489.992 [DAT](INFO): DAT read: Tx time:20:48:11.1885

2025-06-25T20:48:09.992Z,1750884489.992 [DAT](INFO): Ping request sent.
2025-06-25T20:48:09.992Z,1750884489.992 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:09.992Z,1750884489.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:09.993Z,1750884489.993 [DAT](INFO): direction in FSK: [0.985162,-0.032681,-0.168489]
2025-06-25T20:48:09.994Z,1750884489.994 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:09.994Z,1750884489.994 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:10.026Z,1750884490.026 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:10.026Z,1750884490.026 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:10.097Z,1750884490.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.399994 m,
      deltaT: 7.555818 s,
      deltaX: -28.400009 m,
      approachRate: -3.758694 m/s,
      rangeRepo size: 4

2025-06-25T20:48:10.099Z,1750884490.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.986954 m,
      bearing: 240.401842 deg,
      lat: 36.906250 deg,
      lon: -122.116363 deg,
      deltaT: 7.555818 s,
      deltaX: -28.129562 m,
      approachRate: -3.722901 m/s,
      posRepo size: 4

2025-06-25T20:48:10.103Z,1750884490.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:10.119Z,1750884490.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 146.027634 m,
      bearing: 239.733864 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018538 deg/s,
      cmd heading: 241.486174 deg,
      new cmd heading: 241.508107 deg.

2025-06-25T20:48:10.124Z,1750884490.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215112 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:10.221Z,1750884490.221 [DAT](INFO): DAT read: TxSync time:20:48:11.1877

2025-06-25T20:48:10.442Z,1750884490.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:10.444Z,1750884490.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:10.447Z,1750884490.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 145.769119 m,
      bearing: 239.739444 deg,
      approach rate: -0.743475 m/s,
      LOS rate: 0.016076 deg/s,
      cmd heading: 241.508112 deg,
      new cmd heading: 241.524882 deg.

2025-06-25T20:48:10.448Z,1750884490.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215405 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:10.472Z,1750884490.472 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:10.473Z,1750884490.473 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:10.473Z,1750884490.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:10.725Z,1750884490.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.733050
2025-06-25T20:48:10.882Z,1750884490.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:10.889Z,1750884490.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 145.476166 m,
      bearing: 239.744098 deg,
      approach rate: -0.669177 m/s,
      LOS rate: 0.010653 deg/s,
      cmd heading: 241.524887 deg,
      new cmd heading: 241.538879 deg.

2025-06-25T20:48:10.890Z,1750884490.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215649 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:10.977Z,1750884490.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985301
2025-06-25T20:48:11.229Z,1750884491.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236454
2025-06-25T20:48:11.251Z,1750884491.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:11.254Z,1750884491.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 145.203064 m,
      bearing: 239.748527 deg,
      approach rate: -0.739698 m/s,
      LOS rate: 0.012018 deg/s,
      cmd heading: 241.538876 deg,
      new cmd heading: 241.552187 deg.

2025-06-25T20:48:11.255Z,1750884491.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215881 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:11.481Z,1750884491.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488640
2025-06-25T20:48:11.733Z,1750884491.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740809
2025-06-25T20:48:11.734Z,1750884491.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:11.737Z,1750884491.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 144.865936 m,
      bearing: 239.752270 deg,
      approach rate: -0.701697 m/s,
      LOS rate: 0.007809 deg/s,
      cmd heading: 241.552181 deg,
      new cmd heading: 241.563437 deg.

2025-06-25T20:48:11.738Z,1750884491.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216077 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:11.985Z,1750884491.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992605
2025-06-25T20:48:12.057Z,1750884492.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:12.060Z,1750884492.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 144.637177 m,
      bearing: 239.754733 deg,
      approach rate: -0.702830 m/s,
      LOS rate: 0.007578 deg/s,
      cmd heading: 241.563437 deg,
      new cmd heading: 241.570837 deg.

2025-06-25T20:48:12.061Z,1750884492.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216207 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:12.238Z,1750884492.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245928
2025-06-25T20:48:12.489Z,1750884492.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496658
2025-06-25T20:48:12.491Z,1750884492.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:12.494Z,1750884492.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:12.497Z,1750884492.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 144.332611 m,
      bearing: 239.757982 deg,
      approach rate: -0.698055 m/s,
      LOS rate: 0.007463 deg/s,
      cmd heading: 241.570841 deg,
      new cmd heading: 241.580610 deg.

2025-06-25T20:48:12.498Z,1750884492.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216377 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:12.742Z,1750884492.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749574
2025-06-25T20:48:12.910Z,1750884492.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:12.913Z,1750884492.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 144.036331 m,
      bearing: 239.759453 deg,
      approach rate: -0.711083 m/s,
      LOS rate: 0.003538 deg/s,
      cmd heading: 241.580622 deg,
      new cmd heading: 241.585044 deg.

2025-06-25T20:48:12.914Z,1750884492.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216455 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:12.994Z,1750884492.994 [DAT](INFO): DAT read: Rx Time:20:48:13.7869

2025-06-25T20:48:12.994Z,1750884492.994 [DAT](INFO): Rx dataTimestamp_ set to:1750884492.993873
2025-06-25T20:48:12.995Z,1750884492.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002843
2025-06-25T20:48:13.245Z,1750884493.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252824
2025-06-25T20:48:13.287Z,1750884493.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.99 m.
2025-06-25T20:48:13.290Z,1750884493.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.986954 m,
      nav range: 143.769501 m,
      bearing: 239.760772 deg,
      approach rate: -0.707801 m/s,
      LOS rate: 0.003505 deg/s,
      cmd heading: 241.585048 deg,
      new cmd heading: 241.589012 deg.

2025-06-25T20:48:13.291Z,1750884493.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216524 target range: 146.986954 and range: 148.40 m.
2025-06-25T20:48:13.517Z,1750884493.517 [DAT](INFO): DAT read: 20:48:13.7869 LVL= 30784, 32753, 31506, 32755, AGC= 71, IDX= 401,-0.25, 0.173,-1.269, 0.221,-0.324, PHS= 0.585,-0.898, 0.542, RAW= 148.6,  -3.2, CAL= 152.9, -11.9, ROT= 357.1,  11.9

2025-06-25T20:48:13.521Z,1750884493.521 [DAT](INFO): got valid direction response:
 20:48:13.7869 LVL= 30784, 32753, 31506, 32755, AGC= 71, IDX= 401,-0.25, 0.173,-1.269, 0.221,-0.324, PHS= 0.585,-0.898, 0.542, RAW= 148.6,  -3.2, CAL= 152.9, -11.9, ROT= 357.1,  11.9

2025-06-25T20:48:13.522Z,1750884493.522 [DAT](INFO): DAT read: Bearing 357.1,  11.9 (Local)

2025-06-25T20:48:13.522Z,1750884493.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  11.9 (Local)

2025-06-25T20:48:13.525Z,1750884493.525 [DAT](INFO): DAT read: Range 10 to 50 : 145.6 m  (Round-trip  194.2 ms) speed  0.8 m/s

2025-06-25T20:48:13.526Z,1750884493.526 [DAT](INFO): DAT read: user:691>

2025-06-25T20:48:13.527Z,1750884493.527 [DAT](INFO): DAT read: Tx time:20:48:14.8885

2025-06-25T20:48:13.528Z,1750884493.528 [DAT](INFO): Ping request sent.
2025-06-25T20:48:13.528Z,1750884493.528 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:13.529Z,1750884493.529 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:13.530Z,1750884493.530 [DAT](INFO): direction in FSK: [0.977256,-0.049506,-0.206204]
2025-06-25T20:48:13.530Z,1750884493.530 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:13.531Z,1750884493.531 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:13.535Z,1750884493.535 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:13.535Z,1750884493.535 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:13.752Z,1750884493.752 [DAT](INFO): DAT read: TxSync time:20:48:14.8877

2025-06-25T20:48:13.792Z,1750884493.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.600006 m,
      deltaT: 3.529812 s,
      deltaX: -2.799988 m,
      approachRate: -0.793240 m/s,
      rangeRepo size: 4

2025-06-25T20:48:13.794Z,1750884493.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.213562 m,
      bearing: 239.587246 deg,
      lat: 36.906255 deg,
      lon: -122.116363 deg,
      deltaT: 3.529812 s,
      deltaX: -2.773392 m,
      approachRate: -0.785705 m/s,
      posRepo size: 4

2025-06-25T20:48:13.795Z,1750884493.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:13.798Z,1750884493.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 143.112518 m,
      bearing: 239.976697 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003505 deg/s,
      cmd heading: 241.589009 deg,
      new cmd heading: 241.594223 deg.

2025-06-25T20:48:13.799Z,1750884493.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216615 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:14.081Z,1750884494.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:14.084Z,1750884494.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 142.889557 m,
      bearing: 239.975662 deg,
      approach rate: -0.748271 m/s,
      LOS rate: -0.003480 deg/s,
      cmd heading: 241.594227 deg,
      new cmd heading: 241.591117 deg.

2025-06-25T20:48:14.085Z,1750884494.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216560 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:14.488Z,1750884494.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:14.491Z,1750884494.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 142.605362 m,
      bearing: 239.974527 deg,
      approach rate: -0.698578 m/s,
      LOS rate: -0.002794 deg/s,
      cmd heading: 241.591113 deg,
      new cmd heading: 241.587703 deg.

2025-06-25T20:48:14.497Z,1750884494.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216501 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:14.906Z,1750884494.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:14.908Z,1750884494.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:14.911Z,1750884494.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 142.303497 m,
      bearing: 239.972198 deg,
      approach rate: -0.718048 m/s,
      LOS rate: -0.005552 deg/s,
      cmd heading: 241.587698 deg,
      new cmd heading: 241.580695 deg.

2025-06-25T20:48:14.913Z,1750884494.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216379 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:15.009Z,1750884495.009 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:15.009Z,1750884495.009 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:15.009Z,1750884495.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:15.261Z,1750884495.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733383
2025-06-25T20:48:15.299Z,1750884495.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:15.302Z,1750884495.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 142.027237 m,
      bearing: 239.970172 deg,
      approach rate: -0.706729 m/s,
      LOS rate: -0.005193 deg/s,
      cmd heading: 241.580704 deg,
      new cmd heading: 241.574614 deg.

2025-06-25T20:48:15.303Z,1750884495.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216272 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:15.513Z,1750884495.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985945
2025-06-25T20:48:15.739Z,1750884495.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:15.741Z,1750884495.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 141.721497 m,
      bearing: 239.969714 deg,
      approach rate: -0.695961 m/s,
      LOS rate: -0.001045 deg/s,
      cmd heading: 241.574611 deg,
      new cmd heading: 241.573235 deg.

2025-06-25T20:48:15.742Z,1750884495.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216249 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:15.765Z,1750884495.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237366
2025-06-25T20:48:16.017Z,1750884496.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489329
2025-06-25T20:48:16.100Z,1750884496.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:16.103Z,1750884496.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 141.470139 m,
      bearing: 239.969242 deg,
      approach rate: -0.696055 m/s,
      LOS rate: -0.001309 deg/s,
      cmd heading: 241.573245 deg,
      new cmd heading: 241.571827 deg.

2025-06-25T20:48:16.103Z,1750884496.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216224 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:16.269Z,1750884496.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741221
2025-06-25T20:48:16.506Z,1750884496.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:16.511Z,1750884496.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 141.187515 m,
      bearing: 239.968628 deg,
      approach rate: -0.695991 m/s,
      LOS rate: -0.001516 deg/s,
      cmd heading: 241.571824 deg,
      new cmd heading: 241.569978 deg.

2025-06-25T20:48:16.514Z,1750884496.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216191 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:16.525Z,1750884496.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997324
2025-06-25T20:48:16.777Z,1750884496.777 [DAT](INFO): DAT read: Rx Time:20:48:17.4836

2025-06-25T20:48:16.778Z,1750884496.778 [DAT](INFO): Rx dataTimestamp_ set to:1750884496.777414
2025-06-25T20:48:16.778Z,1750884496.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250752
2025-06-25T20:48:16.950Z,1750884496.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:16.956Z,1750884496.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.21 m.
2025-06-25T20:48:16.959Z,1750884496.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.213562 m,
      nav range: 140.896393 m,
      bearing: 239.965708 deg,
      approach rate: -0.652508 m/s,
      LOS rate: -0.006560 deg/s,
      cmd heading: 241.569967 deg,
      new cmd heading: 241.561187 deg.

2025-06-25T20:48:16.964Z,1750884496.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216038 target range: 144.213562 and range: 145.60 m.
2025-06-25T20:48:17.030Z,1750884497.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502067
2025-06-25T20:48:17.287Z,1750884497.287 [DAT](INFO): DAT read: 20:48:17.4836 LVL= 27680, 32753, 22562, 32755, AGC= 68, IDX= 415, 0.05, 1.940, 0.538, 1.937, 1.488, PHS= 0.540,-0.904, 0.446, RAW= 146.7,  -1.2, CAL= 150.6, -10.2, ROT= 359.4,  10.2

2025-06-25T20:48:17.288Z,1750884497.288 [DAT](INFO): got valid direction response:
 20:48:17.4836 LVL= 27680, 32753, 22562, 32755, AGC= 68, IDX= 415, 0.05, 1.940, 0.538, 1.937, 1.488, PHS= 0.540,-0.904, 0.446, RAW= 146.7,  -1.2, CAL= 150.6, -10.2, ROT= 359.4,  10.2

2025-06-25T20:48:17.289Z,1750884497.289 [DAT](INFO): DAT read: Bearing 359.4,  10.2 (Local)

2025-06-25T20:48:17.289Z,1750884497.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  10.2 (Local)

2025-06-25T20:48:17.291Z,1750884497.291 [DAT](INFO): DAT read: Range 10 to 50 : 143.1 m  (Round-trip  190.9 ms) speed  0.4 m/s

2025-06-25T20:48:17.291Z,1750884497.291 [DAT](INFO): DAT read: user:692>

2025-06-25T20:48:17.292Z,1750884497.292 [DAT](INFO): DAT read: Tx time:20:48:18.5886

2025-06-25T20:48:17.293Z,1750884497.293 [DAT](INFO): Ping request sent.
2025-06-25T20:48:17.293Z,1750884497.293 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:17.293Z,1750884497.293 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:17.294Z,1750884497.294 [DAT](INFO): direction in FSK: [0.984142,-0.010306,-0.177085]
2025-06-25T20:48:17.294Z,1750884497.294 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:17.294Z,1750884497.294 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:17.332Z,1750884497.332 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:17.332Z,1750884497.332 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:17.425Z,1750884497.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.100006 m,
      deltaT: 3.782263 s,
      deltaX: -2.500000 m,
      approachRate: -0.660980 m/s,
      rangeRepo size: 4

2025-06-25T20:48:17.427Z,1750884497.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.737503 m,
      bearing: 241.816458 deg,
      lat: 36.906255 deg,
      lon: -122.116363 deg,
      deltaT: 3.782263 s,
      deltaX: -2.476059 m,
      approachRate: -0.654650 m/s,
      posRepo size: 4

2025-06-25T20:48:17.432Z,1750884497.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:17.435Z,1750884497.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 140.585114 m,
      bearing: 239.962427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006560 deg/s,
      cmd heading: 241.561197 deg,
      new cmd heading: 241.551898 deg.

2025-06-25T20:48:17.440Z,1750884497.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215876 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:17.533Z,1750884497.533 [DAT](INFO): DAT read: TxSync time:20:48:18.5878

2025-06-25T20:48:17.824Z,1750884497.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:17.827Z,1750884497.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 140.313095 m,
      bearing: 239.962324 deg,
      approach rate: -0.688139 m/s,
      LOS rate: -0.000261 deg/s,
      cmd heading: 241.551908 deg,
      new cmd heading: 241.551599 deg.

2025-06-25T20:48:17.827Z,1750884497.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215871 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:18.128Z,1750884498.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:18.131Z,1750884498.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 140.106552 m,
      bearing: 239.962176 deg,
      approach rate: -0.670522 m/s,
      LOS rate: -0.000483 deg/s,
      cmd heading: 241.551607 deg,
      new cmd heading: 241.551161 deg.

2025-06-25T20:48:18.131Z,1750884498.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215863 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:18.546Z,1750884498.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:18.548Z,1750884498.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 139.834366 m,
      bearing: 239.961984 deg,
      approach rate: -0.651500 m/s,
      LOS rate: -0.000459 deg/s,
      cmd heading: 241.551170 deg,
      new cmd heading: 241.550595 deg.

2025-06-25T20:48:18.549Z,1750884498.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215853 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:18.968Z,1750884498.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:18.970Z,1750884498.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:18.977Z,1750884498.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 139.569794 m,
      bearing: 239.963174 deg,
      approach rate: -0.623575 m/s,
      LOS rate: 0.002810 deg/s,
      cmd heading: 241.550596 deg,
      new cmd heading: 241.554173 deg.

2025-06-25T20:48:18.978Z,1750884498.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215916 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:19.046Z,1750884499.046 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:19.046Z,1750884499.046 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:19.046Z,1750884499.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:19.297Z,1750884499.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003942
2025-06-25T20:48:19.355Z,1750884499.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:19.358Z,1750884499.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 139.310074 m,
      bearing: 239.964374 deg,
      approach rate: -0.674876 m/s,
      LOS rate: 0.003124 deg/s,
      cmd heading: 241.554175 deg,
      new cmd heading: 241.557782 deg.

2025-06-25T20:48:19.358Z,1750884499.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215979 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:19.550Z,1750884499.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257174
2025-06-25T20:48:19.782Z,1750884499.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:19.784Z,1750884499.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 139.034546 m,
      bearing: 239.967175 deg,
      approach rate: -0.645473 m/s,
      LOS rate: 0.006575 deg/s,
      cmd heading: 241.557782 deg,
      new cmd heading: 241.566201 deg.

2025-06-25T20:48:19.785Z,1750884499.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216125 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:19.801Z,1750884499.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507930
2025-06-25T20:48:20.053Z,1750884500.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759974
2025-06-25T20:48:20.149Z,1750884500.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:20.151Z,1750884500.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 138.797531 m,
      bearing: 239.969443 deg,
      approach rate: -0.645639 m/s,
      LOS rate: 0.006189 deg/s,
      cmd heading: 241.566196 deg,
      new cmd heading: 241.573013 deg.

2025-06-25T20:48:20.152Z,1750884500.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216244 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:20.305Z,1750884500.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011961
2025-06-25T20:48:20.557Z,1750884500.557 [DAT](INFO): DAT read: Rx Time:20:48:21.1805

2025-06-25T20:48:20.557Z,1750884500.557 [DAT](INFO): Rx dataTimestamp_ set to:1750884500.557158
2025-06-25T20:48:20.558Z,1750884500.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265208
2025-06-25T20:48:20.564Z,1750884500.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:20.567Z,1750884500.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 138.530853 m,
      bearing: 239.971855 deg,
      approach rate: -0.641572 m/s,
      LOS rate: 0.005813 deg/s,
      cmd heading: 241.572999 deg,
      new cmd heading: 241.580248 deg.

2025-06-25T20:48:20.568Z,1750884500.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216371 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:20.809Z,1750884500.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515953
2025-06-25T20:48:20.975Z,1750884500.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:20.977Z,1750884500.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.74 m.
2025-06-25T20:48:20.980Z,1750884500.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.737503 m,
      nav range: 138.265167 m,
      bearing: 239.973979 deg,
      approach rate: -0.643738 m/s,
      LOS rate: 0.005156 deg/s,
      cmd heading: 241.580239 deg,
      new cmd heading: 241.586623 deg.

2025-06-25T20:48:20.981Z,1750884500.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216482 target range: 141.737503 and range: 143.10 m.
2025-06-25T20:48:21.067Z,1750884501.067 [DAT](INFO): DAT read: 20:48:21.1805 LVL= 31056, 32753, 22514, 32755, AGC= 71, IDX= 414, 0.47, 2.186, 0.680, 2.246, 1.741, PHS= 0.533,-1.014, 0.502, RAW= 149.0,  -0.3, CAL= 152.4,  -9.2, ROT= 357.6,   9.2

2025-06-25T20:48:21.068Z,1750884501.068 [DAT](INFO): got valid direction response:
 20:48:21.1805 LVL= 31056, 32753, 22514, 32755, AGC= 71, IDX= 414, 0.47, 2.186, 0.680, 2.246, 1.741, PHS= 0.533,-1.014, 0.502, RAW= 149.0,  -0.3, CAL= 152.4,  -9.2, ROT= 357.6,   9.2

2025-06-25T20:48:21.069Z,1750884501.069 [DAT](INFO): DAT read: Bearing 357.6,   9.2 (Local)

2025-06-25T20:48:21.069Z,1750884501.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,   9.2 (Local)

2025-06-25T20:48:21.071Z,1750884501.071 [DAT](INFO): DAT read: Range 10 to 50 : 140.7 m  (Round-trip  187.7 ms) speed  0.2 m/s

2025-06-25T20:48:21.072Z,1750884501.072 [DAT](INFO): DAT read: user:693>

2025-06-25T20:48:21.073Z,1750884501.073 [DAT](INFO): DAT read: Tx time:20:48:22.2886

2025-06-25T20:48:21.074Z,1750884501.074 [DAT](INFO): Ping request sent.
2025-06-25T20:48:21.074Z,1750884501.074 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:21.074Z,1750884501.074 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:21.075Z,1750884501.075 [DAT](INFO): direction in FSK: [0.986270,-0.041337,-0.159881]
2025-06-25T20:48:21.075Z,1750884501.075 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:21.075Z,1750884501.075 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:21.079Z,1750884501.079 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:21.079Z,1750884501.079 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:21.313Z,1750884501.313 [DAT](INFO): DAT read: TxSync time:20:48:22.2878

2025-06-25T20:48:21.387Z,1750884501.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.699997 m,
      deltaT: 3.780126 s,
      deltaX: -2.400009 m,
      approachRate: -0.634902 m/s,
      rangeRepo size: 4

2025-06-25T20:48:21.390Z,1750884501.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.360352 m,
      bearing: 240.162903 deg,
      lat: 36.906259 deg,
      lon: -122.116363 deg,
      deltaT: 3.780126 s,
      deltaX: -2.377151 m,
      approachRate: -0.628855 m/s,
      posRepo size: 4

2025-06-25T20:48:21.390Z,1750884501.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:21.393Z,1750884501.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 137.796936 m,
      bearing: 240.125622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005156 deg/s,
      cmd heading: 241.586632 deg,
      new cmd heading: 241.592971 deg.

2025-06-25T20:48:21.394Z,1750884501.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216593 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:21.825Z,1750884501.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:21.830Z,1750884501.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 137.515488 m,
      bearing: 240.128536 deg,
      approach rate: -0.642635 m/s,
      LOS rate: 0.006668 deg/s,
      cmd heading: 241.592971 deg,
      new cmd heading: 241.601732 deg.

2025-06-25T20:48:21.831Z,1750884501.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216746 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:22.195Z,1750884502.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:22.198Z,1750884502.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 137.280899 m,
      bearing: 240.130977 deg,
      approach rate: -0.639060 m/s,
      LOS rate: 0.006660 deg/s,
      cmd heading: 241.601741 deg,
      new cmd heading: 241.609075 deg.

2025-06-25T20:48:22.198Z,1750884502.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216874 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:22.574Z,1750884502.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:22.577Z,1750884502.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 137.022888 m,
      bearing: 240.133592 deg,
      approach rate: -0.674552 m/s,
      LOS rate: 0.006850 deg/s,
      cmd heading: 241.609063 deg,
      new cmd heading: 241.616923 deg.

2025-06-25T20:48:22.578Z,1750884502.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217011 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:23.006Z,1750884503.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:23.008Z,1750884503.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:23.011Z,1750884503.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 136.730179 m,
      bearing: 240.136984 deg,
      approach rate: -0.675426 m/s,
      LOS rate: 0.007844 deg/s,
      cmd heading: 241.616931 deg,
      new cmd heading: 241.627129 deg.

2025-06-25T20:48:23.011Z,1750884503.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217189 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:23.077Z,1750884503.077 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:23.077Z,1750884503.077 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:23.078Z,1750884503.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:23.329Z,1750884503.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255058
2025-06-25T20:48:23.407Z,1750884503.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:23.410Z,1750884503.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 136.473907 m,
      bearing: 240.139952 deg,
      approach rate: -0.642226 m/s,
      LOS rate: 0.007451 deg/s,
      cmd heading: 241.627122 deg,
      new cmd heading: 241.636042 deg.

2025-06-25T20:48:23.411Z,1750884503.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217344 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:23.581Z,1750884503.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507099
2025-06-25T20:48:23.833Z,1750884503.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759214
2025-06-25T20:48:23.851Z,1750884503.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:23.874Z,1750884503.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 136.162277 m,
      bearing: 240.141242 deg,
      approach rate: -0.701437 m/s,
      LOS rate: 0.002912 deg/s,
      cmd heading: 241.636028 deg,
      new cmd heading: 241.639909 deg.

2025-06-25T20:48:23.875Z,1750884503.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217412 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:24.086Z,1750884504.086 [DAT](INFO): DAT read: Rx Time:20:48:24.8771

2025-06-25T20:48:24.087Z,1750884504.087 [DAT](INFO): Rx dataTimestamp_ set to:1750884504.086266
2025-06-25T20:48:24.087Z,1750884504.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013438
2025-06-25T20:48:24.185Z,1750884504.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.36 m.
2025-06-25T20:48:24.188Z,1750884504.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.360352 m,
      nav range: 135.937439 m,
      bearing: 240.142158 deg,
      approach rate: -0.673366 m/s,
      LOS rate: 0.002746 deg/s,
      cmd heading: 241.639908 deg,
      new cmd heading: 241.642658 deg.

2025-06-25T20:48:24.189Z,1750884504.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217460 target range: 139.360352 and range: 140.70 m.
2025-06-25T20:48:24.337Z,1750884504.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263097
2025-06-25T20:48:24.610Z,1750884504.610 [DAT](INFO): DAT read: 20:48:24.8771 LVL= 25488, 32753, 22770, 32755, AGC= 68, IDX= 412,-0.00, 0.078,-1.351, 0.107,-0.394, PHS= 0.559,-0.910, 0.497, RAW= 147.9,  -2.1, CAL= 152.0, -11.0, ROT= 358.0,  11.0

2025-06-25T20:48:24.617Z,1750884504.617 [DAT](INFO): got valid direction response:
 20:48:24.8771 LVL= 25488, 32753, 22770, 32755, AGC= 68, IDX= 412,-0.00, 0.078,-1.351, 0.107,-0.394, PHS= 0.559,-0.910, 0.497, RAW= 147.9,  -2.1, CAL= 152.0, -11.0, ROT= 358.0,  11.0

2025-06-25T20:48:24.618Z,1750884504.618 [DAT](INFO): DAT read: Bearing 358.0,  11.0 (Local)

2025-06-25T20:48:24.618Z,1750884504.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  11.0 (Local)

2025-06-25T20:48:24.656Z,1750884504.656 [DAT](INFO): DAT read: Range 10 to 50 : 138.2 m  (Round-trip  184.3 ms) speed  0.4 m/s

2025-06-25T20:48:24.657Z,1750884504.657 [DAT](INFO): DAT read: user:694>

2025-06-25T20:48:24.659Z,1750884504.659 [DAT](INFO): DAT read: Tx time:20:48:25.9902

2025-06-25T20:48:24.659Z,1750884504.659 [DAT](INFO): Ping request sent.
2025-06-25T20:48:24.659Z,1750884504.659 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:24.659Z,1750884504.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:24.673Z,1750884504.673 [DAT](INFO): direction in FSK: [0.981029,-0.034258,-0.190809]
2025-06-25T20:48:24.673Z,1750884504.673 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:24.673Z,1750884504.673 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:24.684Z,1750884504.684 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:24.685Z,1750884504.685 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:24.748Z,1750884504.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.199997 m,
      deltaT: 3.529455 s,
      deltaX: -2.500000 m,
      approachRate: -0.708325 m/s,
      rangeRepo size: 4

2025-06-25T20:48:24.778Z,1750884504.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.884079 m,
      bearing: 240.754834 deg,
      lat: 36.906267 deg,
      lon: -122.116364 deg,
      deltaT: 3.529455 s,
      deltaX: -2.476273 m,
      approachRate: -0.701602 m/s,
      posRepo size: 4

2025-06-25T20:48:24.792Z,1750884504.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:24.794Z,1750884504.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 135.229065 m,
      bearing: 240.499352 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002746 deg/s,
      cmd heading: 241.642667 deg,
      new cmd heading: 241.647092 deg.

2025-06-25T20:48:24.795Z,1750884504.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217537 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:24.841Z,1750884504.841 [DAT](INFO): DAT read: TxSync time:20:48:25.9894

2025-06-25T20:48:25.110Z,1750884505.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:25.112Z,1750884505.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:25.115Z,1750884505.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 134.934738 m,
      bearing: 240.500107 deg,
      approach rate: -0.755149 m/s,
      LOS rate: 0.001940 deg/s,
      cmd heading: 241.647093 deg,
      new cmd heading: 241.649362 deg.

2025-06-25T20:48:25.128Z,1750884505.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217577 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:25.347Z,1750884505.347 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:25.347Z,1750884505.347 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:25.347Z,1750884505.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:25.503Z,1750884505.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:25.505Z,1750884505.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 134.662415 m,
      bearing: 240.501012 deg,
      approach rate: -0.696972 m/s,
      LOS rate: 0.002322 deg/s,
      cmd heading: 241.649361 deg,
      new cmd heading: 241.652083 deg.

2025-06-25T20:48:25.506Z,1750884505.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217625 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:25.599Z,1750884505.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.939626
2025-06-25T20:48:25.853Z,1750884505.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.193732
2025-06-25T20:48:25.923Z,1750884505.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:25.925Z,1750884505.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 134.366821 m,
      bearing: 240.502932 deg,
      approach rate: -0.703928 m/s,
      LOS rate: 0.004582 deg/s,
      cmd heading: 241.652093 deg,
      new cmd heading: 241.657865 deg.

2025-06-25T20:48:25.926Z,1750884505.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217725 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:26.109Z,1750884506.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449856
2025-06-25T20:48:26.293Z,1750884506.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:26.297Z,1750884506.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 134.105820 m,
      bearing: 240.504833 deg,
      approach rate: -0.704289 m/s,
      LOS rate: 0.005138 deg/s,
      cmd heading: 241.657858 deg,
      new cmd heading: 241.663570 deg.

2025-06-25T20:48:26.298Z,1750884506.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217825 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:26.361Z,1750884506.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701874
2025-06-25T20:48:26.613Z,1750884506.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953769
2025-06-25T20:48:26.704Z,1750884506.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:26.707Z,1750884506.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 133.819962 m,
      bearing: 240.507079 deg,
      approach rate: -0.696110 m/s,
      LOS rate: 0.005483 deg/s,
      cmd heading: 241.663568 deg,
      new cmd heading: 241.670322 deg.

2025-06-25T20:48:26.708Z,1750884506.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217943 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:26.865Z,1750884506.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205961
2025-06-25T20:48:27.117Z,1750884507.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457784
2025-06-25T20:48:27.133Z,1750884507.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:27.135Z,1750884507.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:27.138Z,1750884507.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 133.507462 m,
      bearing: 240.510048 deg,
      approach rate: -0.725036 m/s,
      LOS rate: 0.006903 deg/s,
      cmd heading: 241.670316 deg,
      new cmd heading: 241.679242 deg.

2025-06-25T20:48:27.139Z,1750884507.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218099 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:27.369Z,1750884507.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710458
2025-06-25T20:48:27.507Z,1750884507.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:27.510Z,1750884507.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 133.239594 m,
      bearing: 240.512639 deg,
      approach rate: -0.718679 m/s,
      LOS rate: 0.006966 deg/s,
      cmd heading: 241.679250 deg,
      new cmd heading: 241.687039 deg.

2025-06-25T20:48:27.511Z,1750884507.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218235 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:27.621Z,1750884507.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961861
2025-06-25T20:48:27.873Z,1750884507.873 [DAT](INFO): DAT read: Rx Time:20:48:28.5750

2025-06-25T20:48:27.873Z,1750884507.873 [DAT](INFO): Rx dataTimestamp_ set to:1750884507.872982
2025-06-25T20:48:27.874Z,1750884507.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214789
2025-06-25T20:48:27.969Z,1750884507.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:27.976Z,1750884507.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 132.925003 m,
      bearing: 240.516702 deg,
      approach rate: -0.681486 m/s,
      LOS rate: 0.008822 deg/s,
      cmd heading: 241.687036 deg,
      new cmd heading: 241.699254 deg.

2025-06-25T20:48:27.977Z,1750884507.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218448 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:28.125Z,1750884508.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466018
2025-06-25T20:48:28.338Z,1750884508.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.88 m.
2025-06-25T20:48:28.357Z,1750884508.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.884079 m,
      nav range: 132.647507 m,
      bearing: 240.520274 deg,
      approach rate: -0.753266 m/s,
      LOS rate: 0.009718 deg/s,
      cmd heading: 241.699248 deg,
      new cmd heading: 241.709989 deg.

2025-06-25T20:48:28.358Z,1750884508.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218635 target range: 136.884079 and range: 138.20 m.
2025-06-25T20:48:28.383Z,1750884508.383 [DAT](INFO): DAT read: 20:48:28.5750 LVL= 25184, 32625, 20930, 32755, AGC= 71, IDX= 407,-0.29,-2.802, 2.138,-2.778, 3.056, PHS= 0.513,-0.872, 0.445, RAW= 147.5,  -1.3, CAL= 151.4, -10.3, ROT= 358.6,  10.3

2025-06-25T20:48:28.384Z,1750884508.384 [DAT](INFO): got valid direction response:
 20:48:28.5750 LVL= 25184, 32625, 20930, 32755, AGC= 71, IDX= 407,-0.29,-2.802, 2.138,-2.778, 3.056, PHS= 0.513,-0.872, 0.445, RAW= 147.5,  -1.3, CAL= 151.4, -10.3, ROT= 358.6,  10.3

2025-06-25T20:48:28.385Z,1750884508.385 [DAT](INFO): DAT read: Bearing 358.6,  10.3 (Local)

2025-06-25T20:48:28.385Z,1750884508.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  10.3 (Local)

2025-06-25T20:48:28.387Z,1750884508.387 [DAT](INFO): DAT read: Range 10 to 50 : 135.5 m  (Round-trip  180.7 ms) speed  0.6 m/s

2025-06-25T20:48:28.388Z,1750884508.388 [DAT](INFO): DAT read: user:695>

2025-06-25T20:48:28.389Z,1750884508.389 [DAT](INFO): DAT read: Tx time:20:48:29.6886

2025-06-25T20:48:28.389Z,1750884508.389 [DAT](INFO): Ping request sent.
2025-06-25T20:48:28.389Z,1750884508.389 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:28.389Z,1750884508.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:28.390Z,1750884508.390 [DAT](INFO): direction in FSK: [0.983591,-0.024038,-0.178802]
2025-06-25T20:48:28.390Z,1750884508.390 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:28.391Z,1750884508.391 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:28.394Z,1750884508.394 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:28.394Z,1750884508.394 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:28.637Z,1750884508.637 [DAT](INFO): DAT read: TxSync time:20:48:29.6878

2025-06-25T20:48:28.761Z,1750884508.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.500000 m,
      deltaT: 3.786394 s,
      deltaX: -2.699997 m,
      approachRate: -0.713079 m/s,
      rangeRepo size: 4

2025-06-25T20:48:28.769Z,1750884508.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 134.210052 m,
      bearing: 240.973221 deg,
      lat: 36.906273 deg,
      lon: -122.116365 deg,
      deltaT: 3.786394 s,
      deltaX: -2.674026 m,
      approachRate: -0.706220 m/s,
      posRepo size: 4

2025-06-25T20:48:28.770Z,1750884508.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:28.776Z,1750884508.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 132.108154 m,
      bearing: 240.803964 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009718 deg/s,
      cmd heading: 241.709986 deg,
      new cmd heading: 241.722316 deg.

2025-06-25T20:48:28.777Z,1750884508.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218850 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:29.155Z,1750884509.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:29.158Z,1750884509.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:29.161Z,1750884509.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 131.803314 m,
      bearing: 240.808877 deg,
      approach rate: -0.767473 m/s,
      LOS rate: 0.012398 deg/s,
      cmd heading: 241.722307 deg,
      new cmd heading: 241.737081 deg.

2025-06-25T20:48:29.161Z,1750884509.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219108 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:29.393Z,1750884509.393 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:29.393Z,1750884509.393 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:29.394Z,1750884509.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:29.537Z,1750884509.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:29.542Z,1750884509.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 131.537262 m,
      bearing: 240.813257 deg,
      approach rate: -0.705325 m/s,
      LOS rate: 0.011633 deg/s,
      cmd heading: 241.737088 deg,
      new cmd heading: 241.750252 deg.

2025-06-25T20:48:29.543Z,1750884509.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219338 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:29.646Z,1750884509.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256580
2025-06-25T20:48:29.897Z,1750884509.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507794
2025-06-25T20:48:29.968Z,1750884509.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:29.970Z,1750884509.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 131.237213 m,
      bearing: 240.817427 deg,
      approach rate: -0.693309 m/s,
      LOS rate: 0.009659 deg/s,
      cmd heading: 241.750256 deg,
      new cmd heading: 241.762797 deg.

2025-06-25T20:48:29.971Z,1750884509.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219557 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:30.149Z,1750884510.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759798
2025-06-25T20:48:30.339Z,1750884510.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:30.343Z,1750884510.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 130.980026 m,
      bearing: 240.821003 deg,
      approach rate: -0.691991 m/s,
      LOS rate: 0.009641 deg/s,
      cmd heading: 241.762797 deg,
      new cmd heading: 241.773546 deg.

2025-06-25T20:48:30.343Z,1750884510.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219744 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:30.402Z,1750884510.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012896
2025-06-25T20:48:30.654Z,1750884510.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264378
2025-06-25T20:48:30.748Z,1750884510.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:30.751Z,1750884510.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 130.697296 m,
      bearing: 240.824738 deg,
      approach rate: -0.692245 m/s,
      LOS rate: 0.009163 deg/s,
      cmd heading: 241.773534 deg,
      new cmd heading: 241.784761 deg.

2025-06-25T20:48:30.751Z,1750884510.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219940 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:30.905Z,1750884510.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515834
2025-06-25T20:48:31.157Z,1750884511.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767926
2025-06-25T20:48:31.165Z,1750884511.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:31.167Z,1750884511.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:31.169Z,1750884511.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 130.410156 m,
      bearing: 240.829527 deg,
      approach rate: -0.685368 m/s,
      LOS rate: 0.011456 deg/s,
      cmd heading: 241.784762 deg,
      new cmd heading: 241.799162 deg.

2025-06-25T20:48:31.170Z,1750884511.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220191 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:31.412Z,1750884511.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022144
2025-06-25T20:48:31.565Z,1750884511.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:31.568Z,1750884511.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 130.150208 m,
      bearing: 240.833831 deg,
      approach rate: -0.652233 m/s,
      LOS rate: 0.010821 deg/s,
      cmd heading: 241.799160 deg,
      new cmd heading: 241.812099 deg.

2025-06-25T20:48:31.569Z,1750884511.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220417 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:31.662Z,1750884511.662 [DAT](INFO): DAT read: Rx Time:20:48:32.2703

2025-06-25T20:48:31.662Z,1750884511.662 [DAT](INFO): Rx dataTimestamp_ set to:1750884511.661761
2025-06-25T20:48:31.663Z,1750884511.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273940
2025-06-25T20:48:31.913Z,1750884511.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523750
2025-06-25T20:48:32.042Z,1750884512.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-06-25T20:48:32.045Z,1750884512.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.210052 m,
      nav range: 129.809158 m,
      bearing: 240.836804 deg,
      approach rate: -0.715096 m/s,
      LOS rate: 0.006249 deg/s,
      cmd heading: 241.812111 deg,
      new cmd heading: 241.821052 deg.

2025-06-25T20:48:32.046Z,1750884512.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220573 target range: 134.210052 and range: 135.50 m.
2025-06-25T20:48:32.171Z,1750884512.171 [DAT](INFO): DAT read: 20:48:32.2703 LVL= 27936, 32753, 23186, 32755, AGC= 65, IDX= 405, 0.10,-2.304, 2.625,-2.289,-2.749, PHS= 0.533,-0.862, 0.457, RAW= 147.2,  -1.9, CAL= 151.3, -10.9, ROT= 358.7,  10.9

2025-06-25T20:48:32.172Z,1750884512.172 [DAT](INFO): got valid direction response:
 20:48:32.2703 LVL= 27936, 32753, 23186, 32755, AGC= 65, IDX= 405, 0.10,-2.304, 2.625,-2.289,-2.749, PHS= 0.533,-0.862, 0.457, RAW= 147.2,  -1.9, CAL= 151.3, -10.9, ROT= 358.7,  10.9

2025-06-25T20:48:32.173Z,1750884512.173 [DAT](INFO): DAT read: Bearing 358.7,  10.9 (Local)

2025-06-25T20:48:32.174Z,1750884512.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,  10.9 (Local)

2025-06-25T20:48:32.175Z,1750884512.175 [DAT](INFO): DAT read: Range 10 to 50 : 133.0 m  (Round-trip  177.4 ms) speed  0.8 m/s

2025-06-25T20:48:32.176Z,1750884512.176 [DAT](INFO): DAT read: user:696>

2025-06-25T20:48:32.177Z,1750884512.177 [DAT](INFO): DAT read: Tx time:20:48:33.3887

2025-06-25T20:48:32.177Z,1750884512.177 [DAT](INFO): Ping request sent.
2025-06-25T20:48:32.177Z,1750884512.177 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:32.178Z,1750884512.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:32.178Z,1750884512.178 [DAT](INFO): direction in FSK: [0.981706,-0.022278,-0.189095]
2025-06-25T20:48:32.179Z,1750884512.179 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:32.179Z,1750884512.179 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:32.183Z,1750884512.183 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:32.183Z,1750884512.183 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:32.302Z,1750884512.302 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:48:32.393Z,1750884512.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.000000 m,
      deltaT: 3.788031 s,
      deltaX: -2.500000 m,
      approachRate: -0.659974 m/s,
      rangeRepo size: 4

2025-06-25T20:48:32.395Z,1750884512.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.733780 m,
      bearing: 241.308557 deg,
      lat: 36.906274 deg,
      lon: -122.116371 deg,
      deltaT: 3.788031 s,
      deltaX: -2.476273 m,
      approachRate: -0.653710 m/s,
      posRepo size: 4

2025-06-25T20:48:32.395Z,1750884512.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:32.402Z,1750884512.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 130.052917 m,
      bearing: 241.011642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006249 deg/s,
      cmd heading: 241.821044 deg,
      new cmd heading: 241.827443 deg.

2025-06-25T20:48:32.403Z,1750884512.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220685 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:32.417Z,1750884512.417 [DAT](INFO): DAT read: TxSync time:20:48:33.3879

2025-06-25T20:48:32.767Z,1750884512.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:32.770Z,1750884512.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 129.781296 m,
      bearing: 241.014417 deg,
      approach rate: -0.707367 m/s,
      LOS rate: 0.007242 deg/s,
      cmd heading: 241.827437 deg,
      new cmd heading: 241.835780 deg.

2025-06-25T20:48:32.771Z,1750884512.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220830 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:33.187Z,1750884513.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:33.190Z,1750884513.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:33.193Z,1750884513.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 129.494919 m,
      bearing: 241.018523 deg,
      approach rate: -0.678274 m/s,
      LOS rate: 0.009747 deg/s,
      cmd heading: 241.835770 deg,
      new cmd heading: 241.848116 deg.

2025-06-25T20:48:33.193Z,1750884513.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221046 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:33.305Z,1750884513.305 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:48:33.426Z,1750884513.426 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:33.426Z,1750884513.426 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:33.426Z,1750884513.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:33.577Z,1750884513.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:33.580Z,1750884513.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 129.231644 m,
      bearing: 241.022407 deg,
      approach rate: -0.679771 m/s,
      LOS rate: 0.010048 deg/s,
      cmd heading: 241.848119 deg,
      new cmd heading: 241.859794 deg.

2025-06-25T20:48:33.581Z,1750884513.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221250 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:33.677Z,1750884513.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499640
2025-06-25T20:48:33.931Z,1750884513.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753411
2025-06-25T20:48:34.017Z,1750884514.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:34.019Z,1750884514.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 128.953049 m,
      bearing: 241.026363 deg,
      approach rate: -0.633640 m/s,
      LOS rate: 0.009018 deg/s,
      cmd heading: 241.859785 deg,
      new cmd heading: 241.871680 deg.

2025-06-25T20:48:34.025Z,1750884514.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221457 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:34.181Z,1750884514.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003623
2025-06-25T20:48:34.385Z,1750884514.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:34.388Z,1750884514.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 128.695114 m,
      bearing: 241.029968 deg,
      approach rate: -0.699905 m/s,
      LOS rate: 0.009800 deg/s,
      cmd heading: 241.871670 deg,
      new cmd heading: 241.882505 deg.

2025-06-25T20:48:34.389Z,1750884514.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221646 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:34.434Z,1750884514.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256057
2025-06-25T20:48:34.685Z,1750884514.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507465
2025-06-25T20:48:34.788Z,1750884514.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:34.790Z,1750884514.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 128.427917 m,
      bearing: 241.033522 deg,
      approach rate: -0.664027 m/s,
      LOS rate: 0.008851 deg/s,
      cmd heading: 241.882516 deg,
      new cmd heading: 241.893200 deg.

2025-06-25T20:48:34.791Z,1750884514.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221833 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:34.939Z,1750884514.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761623
2025-06-25T20:48:35.189Z,1750884515.189 [DAT](INFO): DAT read: Rx Time:20:48:35.9669

2025-06-25T20:48:35.190Z,1750884515.190 [DAT](INFO): Rx dataTimestamp_ set to:1750884515.189278
2025-06-25T20:48:35.190Z,1750884515.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012820
2025-06-25T20:48:35.213Z,1750884515.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:35.215Z,1750884515.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:35.218Z,1750884515.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 128.139252 m,
      bearing: 241.036100 deg,
      approach rate: -0.675472 m/s,
      LOS rate: 0.006047 deg/s,
      cmd heading: 241.893199 deg,
      new cmd heading: 241.900951 deg.

2025-06-25T20:48:35.219Z,1750884515.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221968 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:35.441Z,1750884515.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263891
2025-06-25T20:48:35.612Z,1750884515.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.73 m.
2025-06-25T20:48:35.615Z,1750884515.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.733780 m,
      nav range: 127.878792 m,
      bearing: 241.038267 deg,
      approach rate: -0.656252 m/s,
      LOS rate: 0.005470 deg/s,
      cmd heading: 241.900958 deg,
      new cmd heading: 241.907471 deg.

2025-06-25T20:48:35.616Z,1750884515.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222082 target range: 131.733780 and range: 133.00 m.
2025-06-25T20:48:35.706Z,1750884515.706 [DAT](INFO): DAT read: 20:48:35.9669 LVL= 27120, 32753, 22706, 32755, AGC= 69, IDX= 403,-0.17,-2.552, 2.398,-2.497,-2.963, PHS= 0.498,-0.876, 0.463, RAW= 148.7,  -1.3, CAL= 152.5, -10.2, ROT= 357.5,  10.2

2025-06-25T20:48:35.715Z,1750884515.715 [DAT](INFO): got valid direction response:
 20:48:35.9669 LVL= 27120, 32753, 22706, 32755, AGC= 69, IDX= 403,-0.17,-2.552, 2.398,-2.497,-2.963, PHS= 0.498,-0.876, 0.463, RAW= 148.7,  -1.3, CAL= 152.5, -10.2, ROT= 357.5,  10.2

2025-06-25T20:48:35.752Z,1750884515.752 [DAT](INFO): DAT read: Bearing 357.5,  10.2 (Local)

2025-06-25T20:48:35.753Z,1750884515.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  10.2 (Local)

2025-06-25T20:48:35.754Z,1750884515.754 [DAT](INFO): DAT read: Range 10 to 50 : 130.5 m  (Round-trip  174.1 ms) speed  0.7 m/s

2025-06-25T20:48:35.755Z,1750884515.755 [DAT](INFO): DAT read: user:697>

2025-06-25T20:48:35.760Z,1750884515.760 [DAT](INFO): DAT read: Tx time:20:48:37.0887

2025-06-25T20:48:35.760Z,1750884515.760 [DAT](INFO): Ping request sent.
2025-06-25T20:48:35.761Z,1750884515.761 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:35.761Z,1750884515.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:35.762Z,1750884515.762 [DAT](INFO): direction in FSK: [0.983259,-0.042930,-0.177085]
2025-06-25T20:48:35.762Z,1750884515.762 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:35.762Z,1750884515.762 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:35.766Z,1750884515.766 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:35.766Z,1750884515.766 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:35.948Z,1750884515.948 [DAT](INFO): DAT read: TxSync time:20:48:37.0879

2025-06-25T20:48:36.063Z,1750884516.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.500000 m,
      deltaT: 3.530365 s,
      deltaX: -2.500000 m,
      approachRate: -0.708142 m/s,
      rangeRepo size: 4

2025-06-25T20:48:36.074Z,1750884516.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.257721 m,
      bearing: 240.315957 deg,
      lat: 36.906273 deg,
      lon: -122.116365 deg,
      deltaT: 3.530365 s,
      deltaX: -2.476059 m,
      approachRate: -0.701361 m/s,
      posRepo size: 4

2025-06-25T20:48:36.074Z,1750884516.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:36.081Z,1750884516.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 127.109230 m,
      bearing: 240.865145 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005470 deg/s,
      cmd heading: 241.907460 deg,
      new cmd heading: 241.914861 deg.

2025-06-25T20:48:36.082Z,1750884516.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222211 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:36.417Z,1750884516.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:36.420Z,1750884516.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 126.859970 m,
      bearing: 240.867353 deg,
      approach rate: -0.702925 m/s,
      LOS rate: 0.006238 deg/s,
      cmd heading: 241.914864 deg,
      new cmd heading: 241.921500 deg.

2025-06-25T20:48:36.421Z,1750884516.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222327 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:36.804Z,1750884516.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:36.806Z,1750884516.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 126.600761 m,
      bearing: 240.869639 deg,
      approach rate: -0.671019 m/s,
      LOS rate: 0.005930 deg/s,
      cmd heading: 241.921503 deg,
      new cmd heading: 241.928375 deg.

2025-06-25T20:48:36.807Z,1750884516.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222447 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:37.227Z,1750884517.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:37.229Z,1750884517.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:37.233Z,1750884517.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 126.312408 m,
      bearing: 240.872773 deg,
      approach rate: -0.677953 m/s,
      LOS rate: 0.007385 deg/s,
      cmd heading: 241.928388 deg,
      new cmd heading: 241.937811 deg.

2025-06-25T20:48:37.233Z,1750884517.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222611 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:37.457Z,1750884517.457 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:37.457Z,1750884517.457 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:37.457Z,1750884517.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:37.680Z,1750884517.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:37.683Z,1750884517.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 126.014229 m,
      bearing: 240.876046 deg,
      approach rate: -0.667280 m/s,
      LOS rate: 0.007343 deg/s,
      cmd heading: 241.937813 deg,
      new cmd heading: 241.947657 deg.

2025-06-25T20:48:37.688Z,1750884517.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222783 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:37.709Z,1750884517.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948305
2025-06-25T20:48:37.963Z,1750884517.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202418
2025-06-25T20:48:38.069Z,1750884518.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:38.071Z,1750884518.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 125.750748 m,
      bearing: 240.877491 deg,
      approach rate: -0.700766 m/s,
      LOS rate: 0.003852 deg/s,
      cmd heading: 241.947649 deg,
      new cmd heading: 241.951993 deg.

2025-06-25T20:48:38.076Z,1750884518.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222859 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:38.213Z,1750884518.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452204
2025-06-25T20:48:38.439Z,1750884518.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:38.442Z,1750884518.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 125.498642 m,
      bearing: 240.878764 deg,
      approach rate: -0.656650 m/s,
      LOS rate: 0.003321 deg/s,
      cmd heading: 241.951993 deg,
      new cmd heading: 241.955817 deg.

2025-06-25T20:48:38.443Z,1750884518.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222926 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:38.465Z,1750884518.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704307
2025-06-25T20:48:38.717Z,1750884518.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.956128
2025-06-25T20:48:38.828Z,1750884518.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:38.831Z,1750884518.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 125.218933 m,
      bearing: 240.880041 deg,
      approach rate: -0.712304 m/s,
      LOS rate: 0.003261 deg/s,
      cmd heading: 241.955818 deg,
      new cmd heading: 241.959659 deg.

2025-06-25T20:48:38.848Z,1750884518.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222993 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:38.972Z,1750884518.972 [DAT](INFO): DAT read: Rx Time:20:48:39.6632

2025-06-25T20:48:38.973Z,1750884518.973 [DAT](INFO): Rx dataTimestamp_ set to:1750884518.972794
2025-06-25T20:48:38.975Z,1750884518.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214055
2025-06-25T20:48:39.221Z,1750884519.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460235
2025-06-25T20:48:39.257Z,1750884519.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:39.259Z,1750884519.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.26 m.
2025-06-25T20:48:39.262Z,1750884519.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.257721 m,
      nav range: 124.919624 m,
      bearing: 240.881925 deg,
      approach rate: -0.694994 m/s,
      LOS rate: 0.004385 deg/s,
      cmd heading: 241.959670 deg,
      new cmd heading: 241.965336 deg.

2025-06-25T20:48:39.263Z,1750884519.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223092 target range: 129.257721 and range: 130.50 m.
2025-06-25T20:48:39.480Z,1750884519.480 [DAT](INFO): DAT read: 20:48:39.6632 LVL= 25872, 32753, 21058, 31859, AGC= 69, IDX= 397,-0.06,-0.240,-1.639,-0.200,-0.692, PHS= 0.539,-0.900, 0.489, RAW= 148.2,  -1.8, CAL= 152.2, -10.7, ROT= 357.8,  10.7

2025-06-25T20:48:39.481Z,1750884519.481 [DAT](INFO): got valid direction response:
 20:48:39.6632 LVL= 25872, 32753, 21058, 31859, AGC= 69, IDX= 397,-0.06,-0.240,-1.639,-0.200,-0.692, PHS= 0.539,-0.900, 0.489, RAW= 148.2,  -1.8, CAL= 152.2, -10.7, ROT= 357.8,  10.7

2025-06-25T20:48:39.483Z,1750884519.483 [DAT](INFO): DAT read: Bearing 357.8,  10.7 (Local)

2025-06-25T20:48:39.483Z,1750884519.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  10.7 (Local)

2025-06-25T20:48:39.485Z,1750884519.485 [DAT](INFO): DAT read: Range 10 to 50 : 127.8 m  (Round-trip  170.4 ms) speed  0.7 m/s

2025-06-25T20:48:39.485Z,1750884519.485 [DAT](INFO): DAT read: user:698>

2025-06-25T20:48:39.486Z,1750884519.486 [DAT](INFO): DAT read: Tx time:20:48:40.7887

2025-06-25T20:48:39.486Z,1750884519.486 [DAT](INFO): Ping request sent.
2025-06-25T20:48:39.486Z,1750884519.486 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:39.487Z,1750884519.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:39.488Z,1750884519.488 [DAT](INFO): direction in FSK: [0.981889,-0.037721,-0.185667]
2025-06-25T20:48:39.488Z,1750884519.488 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:39.488Z,1750884519.488 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:39.491Z,1750884519.491 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:39.492Z,1750884519.492 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:39.697Z,1750884519.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 127.800003 m,
      deltaT: 3.777556 s,
      deltaX: -2.699997 m,
      approachRate: -0.714747 m/s,
      rangeRepo size: 4

2025-06-25T20:48:39.699Z,1750884519.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.583374 m,
      bearing: 240.929427 deg,
      lat: 36.906273 deg,
      lon: -122.116367 deg,
      deltaT: 3.777556 s,
      deltaX: -2.674347 m,
      approachRate: -0.707957 m/s,
      posRepo size: 4

2025-06-25T20:48:39.699Z,1750884519.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:39.706Z,1750884519.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 124.859138 m,
      bearing: 240.941649 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004385 deg/s,
      cmd heading: 241.965325 deg,
      new cmd heading: 241.971016 deg.

2025-06-25T20:48:39.707Z,1750884519.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223191 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:39.725Z,1750884519.725 [DAT](INFO): DAT read: TxSync time:20:48:40.7879

2025-06-25T20:48:40.081Z,1750884520.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:40.084Z,1750884520.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 124.578285 m,
      bearing: 240.942537 deg,
      approach rate: -0.721022 m/s,
      LOS rate: 0.002284 deg/s,
      cmd heading: 241.971008 deg,
      new cmd heading: 241.973677 deg.

2025-06-25T20:48:40.085Z,1750884520.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223238 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:40.457Z,1750884520.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:40.464Z,1750884520.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 124.331306 m,
      bearing: 240.943499 deg,
      approach rate: -0.657084 m/s,
      LOS rate: 0.002565 deg/s,
      cmd heading: 241.973685 deg,
      new cmd heading: 241.976577 deg.

2025-06-25T20:48:40.465Z,1750884520.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223288 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:40.844Z,1750884520.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:40.847Z,1750884520.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 124.054710 m,
      bearing: 240.944547 deg,
      approach rate: -0.714296 m/s,
      LOS rate: 0.002713 deg/s,
      cmd heading: 241.976581 deg,
      new cmd heading: 241.979733 deg.

2025-06-25T20:48:40.848Z,1750884520.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223343 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:41.273Z,1750884521.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:41.275Z,1750884521.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:41.278Z,1750884521.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 123.754196 m,
      bearing: 240.944707 deg,
      approach rate: -0.697223 m/s,
      LOS rate: 0.000373 deg/s,
      cmd heading: 241.979723 deg,
      new cmd heading: 241.980205 deg.

2025-06-25T20:48:41.279Z,1750884521.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223351 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:41.492Z,1750884521.492 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:41.492Z,1750884521.492 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:41.492Z,1750884521.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:41.666Z,1750884521.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:41.669Z,1750884521.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 123.483841 m,
      bearing: 240.944681 deg,
      approach rate: -0.691607 m/s,
      LOS rate: -0.000068 deg/s,
      cmd heading: 241.980215 deg,
      new cmd heading: 241.980136 deg.

2025-06-25T20:48:41.670Z,1750884521.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223350 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:41.741Z,1750884521.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254872
2025-06-25T20:48:41.996Z,1750884521.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508755
2025-06-25T20:48:42.126Z,1750884522.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:42.134Z,1750884522.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 123.188019 m,
      bearing: 240.944478 deg,
      approach rate: -0.653222 m/s,
      LOS rate: -0.000450 deg/s,
      cmd heading: 241.980133 deg,
      new cmd heading: 241.979522 deg.

2025-06-25T20:48:42.140Z,1750884522.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223340 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:42.246Z,1750884522.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759441
2025-06-25T20:48:42.463Z,1750884522.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:42.482Z,1750884522.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 122.944145 m,
      bearing: 240.944319 deg,
      approach rate: -0.708640 m/s,
      LOS rate: -0.000464 deg/s,
      cmd heading: 241.979532 deg,
      new cmd heading: 241.979053 deg.

2025-06-25T20:48:42.483Z,1750884522.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223331 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:42.497Z,1750884522.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010505
2025-06-25T20:48:42.749Z,1750884522.749 [DAT](INFO): DAT read: Rx Time:20:48:43.3601

2025-06-25T20:48:42.749Z,1750884522.749 [DAT](INFO): Rx dataTimestamp_ set to:1750884522.749180
2025-06-25T20:48:42.750Z,1750884522.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263613
2025-06-25T20:48:42.866Z,1750884522.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.58 m.
2025-06-25T20:48:42.869Z,1750884522.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.583374 m,
      nav range: 122.672623 m,
      bearing: 240.944167 deg,
      approach rate: -0.673874 m/s,
      LOS rate: -0.000377 deg/s,
      cmd heading: 241.979040 deg,
      new cmd heading: 241.978584 deg.

2025-06-25T20:48:42.870Z,1750884522.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223323 target range: 126.583374 and range: 127.80 m.
2025-06-25T20:48:43.004Z,1750884523.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516667
2025-06-25T20:48:43.263Z,1750884523.263 [DAT](INFO): DAT read: 20:48:43.3601 LVL= 25632, 32753, 23026, 32755, AGC= 67, IDX= 412,-0.29, 0.267,-1.142, 0.310,-0.165, PHS= 0.520,-0.929, 0.473, RAW= 148.4,  -0.9, CAL= 152.0,  -9.9, ROT= 358.0,   9.9

2025-06-25T20:48:43.265Z,1750884523.265 [DAT](INFO): got valid direction response:
 20:48:43.3601 LVL= 25632, 32753, 23026, 32755, AGC= 67, IDX= 412,-0.29, 0.267,-1.142, 0.310,-0.165, PHS= 0.520,-0.929, 0.473, RAW= 148.4,  -0.9, CAL= 152.0,  -9.9, ROT= 358.0,   9.9

2025-06-25T20:48:43.266Z,1750884523.266 [DAT](INFO): DAT read: Bearing 358.0,   9.9 (Local)

2025-06-25T20:48:43.267Z,1750884523.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,   9.9 (Local)

2025-06-25T20:48:43.276Z,1750884523.276 [DAT](INFO): DAT read: Range 10 to 50 : 125.3 m  (Round-trip  167.1 ms) speed  0.6 m/s

2025-06-25T20:48:43.277Z,1750884523.277 [DAT](INFO): DAT read: user:699>

2025-06-25T20:48:43.278Z,1750884523.278 [DAT](INFO): DAT read: Tx time:20:48:44.4888

2025-06-25T20:48:43.278Z,1750884523.278 [DAT](INFO): Ping request sent.
2025-06-25T20:48:43.278Z,1750884523.278 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:43.278Z,1750884523.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:43.279Z,1750884523.279 [DAT](INFO): direction in FSK: [0.984509,-0.034380,-0.171929]
2025-06-25T20:48:43.279Z,1750884523.279 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:43.309Z,1750884523.309 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:43.322Z,1750884523.322 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:43.322Z,1750884523.322 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:43.386Z,1750884523.386 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS  +673,    +8,A
2025-06-25T20:48:43.428Z,1750884523.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.300003 m,
      deltaT: 3.781009 s,
      deltaX: -2.500000 m,
      approachRate: -0.661199 m/s,
      rangeRepo size: 4

2025-06-25T20:48:43.430Z,1750884523.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.107376 m,
      bearing: 240.999877 deg,
      lat: 36.906273 deg,
      lon: -122.116371 deg,
      deltaT: 3.781009 s,
      deltaX: -2.475998 m,
      approachRate: -0.654851 m/s,
      posRepo size: 4

2025-06-25T20:48:43.431Z,1750884523.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:43.438Z,1750884523.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 122.619400 m,
      bearing: 241.009517 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000377 deg/s,
      cmd heading: 241.978576 deg,
      new cmd heading: 241.977950 deg.

2025-06-25T20:48:43.438Z,1750884523.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223312 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:43.506Z,1750884523.506 [DAT](INFO): DAT read: TxSync time:20:48:44.4880

2025-06-25T20:48:43.729Z,1750884523.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:43.731Z,1750884523.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:43.738Z,1750884523.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 122.406006 m,
      bearing: 241.009528 deg,
      approach rate: -0.683443 m/s,
      LOS rate: 0.000035 deg/s,
      cmd heading: 241.977947 deg,
      new cmd heading: 241.977980 deg.

2025-06-25T20:48:43.739Z,1750884523.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223312 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:43.757Z,1750884523.757 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:43.757Z,1750884523.757 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:43.757Z,1750884523.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:44.009Z,1750884524.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.730646
2025-06-25T20:48:44.150Z,1750884524.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:44.153Z,1750884524.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 122.126297 m,
      bearing: 241.009954 deg,
      approach rate: -0.668824 m/s,
      LOS rate: 0.001020 deg/s,
      cmd heading: 241.977975 deg,
      new cmd heading: 241.979255 deg.

2025-06-25T20:48:44.154Z,1750884524.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223335 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:44.261Z,1750884524.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983275
2025-06-25T20:48:44.513Z,1750884524.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234797
2025-06-25T20:48:44.524Z,1750884524.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:44.527Z,1750884524.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 121.872177 m,
      bearing: 241.010417 deg,
      approach rate: -0.678781 m/s,
      LOS rate: 0.001240 deg/s,
      cmd heading: 241.979259 deg,
      new cmd heading: 241.980651 deg.

2025-06-25T20:48:44.528Z,1750884524.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223359 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:44.765Z,1750884524.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486974
2025-06-25T20:48:44.919Z,1750884524.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:44.942Z,1750884524.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 121.606941 m,
      bearing: 241.011041 deg,
      approach rate: -0.670721 m/s,
      LOS rate: 0.001582 deg/s,
      cmd heading: 241.980652 deg,
      new cmd heading: 241.982529 deg.

2025-06-25T20:48:44.943Z,1750884524.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223392 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:45.018Z,1750884525.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739288
2025-06-25T20:48:45.269Z,1750884525.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990728
2025-06-25T20:48:45.359Z,1750884525.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:45.362Z,1750884525.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 121.318733 m,
      bearing: 241.011824 deg,
      approach rate: -0.655735 m/s,
      LOS rate: 0.001785 deg/s,
      cmd heading: 241.982537 deg,
      new cmd heading: 241.984891 deg.

2025-06-25T20:48:45.363Z,1750884525.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223433 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:45.522Z,1750884525.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243374
2025-06-25T20:48:45.733Z,1750884525.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:45.735Z,1750884525.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:45.738Z,1750884525.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 121.071632 m,
      bearing: 241.012414 deg,
      approach rate: -0.657554 m/s,
      LOS rate: 0.001575 deg/s,
      cmd heading: 241.984887 deg,
      new cmd heading: 241.986663 deg.

2025-06-25T20:48:45.739Z,1750884525.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223464 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:45.774Z,1750884525.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495320
2025-06-25T20:48:46.025Z,1750884526.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746709
2025-06-25T20:48:46.172Z,1750884526.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:46.175Z,1750884526.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 120.782280 m,
      bearing: 241.016584 deg,
      approach rate: -0.662017 m/s,
      LOS rate: 0.009563 deg/s,
      cmd heading: 241.986663 deg,
      new cmd heading: 241.999202 deg.

2025-06-25T20:48:46.176Z,1750884526.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223683 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:46.277Z,1750884526.277 [DAT](INFO): DAT read: Rx Time:20:48:47.0570

2025-06-25T20:48:46.278Z,1750884526.278 [DAT](INFO): Rx dataTimestamp_ set to:1750884526.277232
2025-06-25T20:48:46.278Z,1750884526.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000053
2025-06-25T20:48:46.529Z,1750884526.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250918
2025-06-25T20:48:46.556Z,1750884526.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.11 m.
2025-06-25T20:48:46.559Z,1750884526.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.107376 m,
      nav range: 120.528137 m,
      bearing: 241.020196 deg,
      approach rate: -0.661697 m/s,
      LOS rate: 0.009423 deg/s,
      cmd heading: 241.999203 deg,
      new cmd heading: 242.010061 deg.

2025-06-25T20:48:46.560Z,1750884526.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223872 target range: 124.107376 and range: 125.30 m.
2025-06-25T20:48:46.793Z,1750884526.793 [DAT](INFO): DAT read: 20:48:47.0570 LVL= 29456, 32753, 29650, 32755, AGC= 68, IDX= 412,-0.23, 2.508, 1.112, 2.608, 2.091, PHS= 0.505,-0.932, 0.514, RAW= 150.3,  -1.2, CAL= 153.9, -10.1, ROT= 356.1,  10.1

2025-06-25T20:48:46.794Z,1750884526.794 [DAT](INFO): got valid direction response:
 20:48:47.0570 LVL= 29456, 32753, 29650, 32755, AGC= 68, IDX= 412,-0.23, 2.508, 1.112, 2.608, 2.091, PHS= 0.505,-0.932, 0.514, RAW= 150.3,  -1.2, CAL= 153.9, -10.1, ROT= 356.1,  10.1

2025-06-25T20:48:46.795Z,1750884526.795 [DAT](INFO): DAT read: Bearing 356.1,  10.1 (Local)

2025-06-25T20:48:46.796Z,1750884526.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  10.1 (Local)

2025-06-25T20:48:46.797Z,1750884526.797 [DAT](INFO): DAT read: Range 10 to 50 : 123.0 m  (Round-trip  164.0 ms) speed  0.6 m/s

2025-06-25T20:48:46.798Z,1750884526.798 [DAT](INFO): DAT read: user:700>

2025-06-25T20:48:46.799Z,1750884526.799 [DAT](INFO): DAT read: Tx time:20:48:48.1388

2025-06-25T20:48:46.799Z,1750884526.799 [DAT](INFO): Ping request sent.
2025-06-25T20:48:46.799Z,1750884526.799 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:46.799Z,1750884526.799 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:46.803Z,1750884526.803 [DAT](INFO): direction in FSK: [0.982223,-0.066961,-0.175367]
2025-06-25T20:48:46.803Z,1750884526.803 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:46.803Z,1750884526.803 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:46.807Z,1750884526.807 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:46.807Z,1750884526.807 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:46.992Z,1750884526.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.000000 m,
      deltaT: 3.528271 s,
      deltaX: -2.300003 m,
      approachRate: -0.651878 m/s,
      rangeRepo size: 4

2025-06-25T20:48:46.994Z,1750884526.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.829147 m,
      bearing: 239.120721 deg,
      lat: 36.906273 deg,
      lon: -122.116367 deg,
      deltaT: 3.528271 s,
      deltaX: -2.278229 m,
      approachRate: -0.645707 m/s,
      posRepo size: 4

2025-06-25T20:48:46.995Z,1750884526.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:47.002Z,1750884527.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 119.992630 m,
      bearing: 240.921136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009423 deg/s,
      cmd heading: 242.010049 deg,
      new cmd heading: 242.022252 deg.

2025-06-25T20:48:47.003Z,1750884527.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224085 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:47.036Z,1750884527.036 [DAT](INFO): DAT read: TxSync time:20:48:48.1380

2025-06-25T20:48:47.370Z,1750884527.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:47.372Z,1750884527.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 119.709900 m,
      bearing: 240.922777 deg,
      approach rate: -0.740127 m/s,
      LOS rate: 0.004308 deg/s,
      cmd heading: 242.022262 deg,
      new cmd heading: 242.027198 deg.

2025-06-25T20:48:47.373Z,1750884527.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224172 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:47.746Z,1750884527.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:47.749Z,1750884527.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:47.754Z,1750884527.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 119.451736 m,
      bearing: 240.924372 deg,
      approach rate: -0.682687 m/s,
      LOS rate: 0.004226 deg/s,
      cmd heading: 242.027207 deg,
      new cmd heading: 242.032001 deg.

2025-06-25T20:48:47.757Z,1750884527.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224255 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:47.789Z,1750884527.789 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:47.789Z,1750884527.789 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:47.789Z,1750884527.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:48.041Z,1750884528.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241801
2025-06-25T20:48:48.206Z,1750884528.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:48.209Z,1750884528.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 119.135719 m,
      bearing: 240.926822 deg,
      approach rate: -0.689721 m/s,
      LOS rate: 0.005362 deg/s,
      cmd heading: 242.031988 deg,
      new cmd heading: 242.039358 deg.

2025-06-25T20:48:48.210Z,1750884528.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224384 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:48.294Z,1750884528.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494339
2025-06-25T20:48:48.545Z,1750884528.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745808
2025-06-25T20:48:48.574Z,1750884528.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:48.577Z,1750884528.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 118.882210 m,
      bearing: 240.928878 deg,
      approach rate: -0.689430 m/s,
      LOS rate: 0.005602 deg/s,
      cmd heading: 242.039365 deg,
      new cmd heading: 242.045544 deg.

2025-06-25T20:48:48.578Z,1750884528.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224492 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:48.797Z,1750884528.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998078
2025-06-25T20:48:48.963Z,1750884528.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:48.966Z,1750884528.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 118.613594 m,
      bearing: 240.931085 deg,
      approach rate: -0.689296 m/s,
      LOS rate: 0.005677 deg/s,
      cmd heading: 242.045539 deg,
      new cmd heading: 242.052176 deg.

2025-06-25T20:48:48.967Z,1750884528.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224607 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:49.050Z,1750884529.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250627
2025-06-25T20:48:49.301Z,1750884529.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501688
2025-06-25T20:48:49.397Z,1750884529.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:49.400Z,1750884529.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 118.313240 m,
      bearing: 240.934414 deg,
      approach rate: -0.692014 m/s,
      LOS rate: 0.007691 deg/s,
      cmd heading: 242.052178 deg,
      new cmd heading: 242.062192 deg.

2025-06-25T20:48:49.401Z,1750884529.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224782 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:49.553Z,1750884529.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753699
2025-06-25T20:48:49.767Z,1750884529.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:49.770Z,1750884529.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:49.773Z,1750884529.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 118.055672 m,
      bearing: 240.937147 deg,
      approach rate: -0.691728 m/s,
      LOS rate: 0.007354 deg/s,
      cmd heading: 242.062205 deg,
      new cmd heading: 242.070420 deg.

2025-06-25T20:48:49.774Z,1750884529.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224926 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:49.805Z,1750884529.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006406
2025-06-25T20:48:50.057Z,1750884530.057 [DAT](INFO): DAT read: Rx Time:20:48:50.7034

2025-06-25T20:48:50.058Z,1750884530.058 [DAT](INFO): Rx dataTimestamp_ set to:1750884530.057054
2025-06-25T20:48:50.060Z,1750884530.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260587
2025-06-25T20:48:50.237Z,1750884530.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.83 m.
2025-06-25T20:48:50.240Z,1750884530.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.829147 m,
      nav range: 117.725464 m,
      bearing: 240.941852 deg,
      approach rate: -0.706737 m/s,
      LOS rate: 0.010100 deg/s,
      cmd heading: 242.070428 deg,
      new cmd heading: 242.084585 deg.

2025-06-25T20:48:50.241Z,1750884530.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225173 target range: 121.829147 and range: 123.00 m.
2025-06-25T20:48:50.311Z,1750884530.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511890
2025-06-25T20:48:50.571Z,1750884530.571 [DAT](INFO): DAT read: 20:48:50.7034 LVL= 32752, 32753, 27554, 32755, AGC= 70, IDX= 407, 0.05, 0.077,-1.301, 0.146,-0.385, PHS= 0.551,-0.869, 0.528, RAW= 149.2,  -3.0, CAL= 153.5, -11.8, ROT= 356.5,  11.8

2025-06-25T20:48:50.572Z,1750884530.572 [DAT](INFO): got valid direction response:
 20:48:50.7034 LVL= 32752, 32753, 27554, 32755, AGC= 70, IDX= 407, 0.05, 0.077,-1.301, 0.146,-0.385, PHS= 0.551,-0.869, 0.528, RAW= 149.2,  -3.0, CAL= 153.5, -11.8, ROT= 356.5,  11.8

2025-06-25T20:48:50.573Z,1750884530.573 [DAT](INFO): DAT read: Bearing 356.5,  11.8 (Local)

2025-06-25T20:48:50.573Z,1750884530.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  11.8 (Local)

2025-06-25T20:48:50.575Z,1750884530.575 [DAT](INFO): DAT read: Range 10 to 50 : 120.3 m  (Round-trip  160.4 ms) speed  0.8 m/s

2025-06-25T20:48:50.576Z,1750884530.576 [DAT](INFO): DAT read: user:701>

2025-06-25T20:48:50.576Z,1750884530.576 [DAT](INFO): DAT read: Tx time:20:48:51.7888

2025-06-25T20:48:50.577Z,1750884530.577 [DAT](INFO): Ping request sent.
2025-06-25T20:48:50.577Z,1750884530.577 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:50.577Z,1750884530.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:50.578Z,1750884530.578 [DAT](INFO): direction in FSK: [0.977042,-0.059758,-0.204496]
2025-06-25T20:48:50.578Z,1750884530.578 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:50.579Z,1750884530.579 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:50.590Z,1750884530.590 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:50.590Z,1750884530.590 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:50.649Z,1750884530.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.300003 m,
      deltaT: 3.782840 s,
      deltaX: -2.699997 m,
      approachRate: -0.713749 m/s,
      rangeRepo size: 4

2025-06-25T20:48:50.656Z,1750884530.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.154938 m,
      bearing: 239.549021 deg,
      lat: 36.906261 deg,
      lon: -122.116364 deg,
      deltaT: 3.782840 s,
      deltaX: -2.674210 m,
      approachRate: -0.706932 m/s,
      posRepo size: 4

2025-06-25T20:48:50.657Z,1750884530.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:50.665Z,1750884530.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 117.803757 m,
      bearing: 240.325750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010100 deg/s,
      cmd heading: 242.084580 deg,
      new cmd heading: 242.096882 deg.

2025-06-25T20:48:50.666Z,1750884530.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225388 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:50.817Z,1750884530.817 [DAT](INFO): DAT read: TxSync time:20:48:51.7880

2025-06-25T20:48:50.996Z,1750884530.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:50.999Z,1750884530.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 117.534576 m,
      bearing: 240.328273 deg,
      approach rate: -0.763465 m/s,
      LOS rate: 0.007171 deg/s,
      cmd heading: 242.096875 deg,
      new cmd heading: 242.104459 deg.

2025-06-25T20:48:51.001Z,1750884531.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225520 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:51.405Z,1750884531.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:51.408Z,1750884531.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 117.244843 m,
      bearing: 240.330099 deg,
      approach rate: -0.708077 m/s,
      LOS rate: 0.004475 deg/s,
      cmd heading: 242.104470 deg,
      new cmd heading: 242.109963 deg.

2025-06-25T20:48:51.409Z,1750884531.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225616 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:51.786Z,1750884531.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:51.788Z,1750884531.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:51.791Z,1750884531.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 116.973793 m,
      bearing: 240.331784 deg,
      approach rate: -0.706401 m/s,
      LOS rate: 0.004402 deg/s,
      cmd heading: 242.109961 deg,
      new cmd heading: 242.115028 deg.

2025-06-25T20:48:51.812Z,1750884531.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225704 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:51.825Z,1750884531.825 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:51.825Z,1750884531.825 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:51.825Z,1750884531.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:52.077Z,1750884532.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499888
2025-06-25T20:48:52.248Z,1750884532.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:52.251Z,1750884532.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 116.648781 m,
      bearing: 240.334909 deg,
      approach rate: -0.706452 m/s,
      LOS rate: 0.006810 deg/s,
      cmd heading: 242.115016 deg,
      new cmd heading: 242.124415 deg.

2025-06-25T20:48:52.253Z,1750884532.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225868 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:52.330Z,1750884532.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752768
2025-06-25T20:48:52.581Z,1750884532.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004053
2025-06-25T20:48:52.600Z,1750884532.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:52.603Z,1750884532.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 116.401031 m,
      bearing: 240.337225 deg,
      approach rate: -0.705216 m/s,
      LOS rate: 0.006607 deg/s,
      cmd heading: 242.124414 deg,
      new cmd heading: 242.131378 deg.

2025-06-25T20:48:52.604Z,1750884532.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225990 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:52.833Z,1750884532.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255864
2025-06-25T20:48:53.012Z,1750884533.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:53.015Z,1750884533.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 116.110428 m,
      bearing: 240.339957 deg,
      approach rate: -0.705417 m/s,
      LOS rate: 0.006647 deg/s,
      cmd heading: 242.131381 deg,
      new cmd heading: 242.139595 deg.

2025-06-25T20:48:53.015Z,1750884533.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226133 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:53.085Z,1750884533.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508106
2025-06-25T20:48:53.337Z,1750884533.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759952
2025-06-25T20:48:53.450Z,1750884533.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:53.453Z,1750884533.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 115.802513 m,
      bearing: 240.342551 deg,
      approach rate: -0.702816 m/s,
      LOS rate: 0.005938 deg/s,
      cmd heading: 242.139604 deg,
      new cmd heading: 242.147409 deg.

2025-06-25T20:48:53.454Z,1750884533.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226270 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:53.589Z,1750884533.589 [DAT](INFO): DAT read: Rx Time:20:48:54.3500

2025-06-25T20:48:53.589Z,1750884533.589 [DAT](INFO): Rx dataTimestamp_ set to:1750884533.589008
2025-06-25T20:48:53.590Z,1750884533.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013003
2025-06-25T20:48:53.841Z,1750884533.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264024
2025-06-25T20:48:53.845Z,1750884533.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:53.847Z,1750884533.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.15 m.
2025-06-25T20:48:53.854Z,1750884533.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.154938 m,
      nav range: 115.530510 m,
      bearing: 240.344917 deg,
      approach rate: -0.684560 m/s,
      LOS rate: 0.005968 deg/s,
      cmd heading: 242.147418 deg,
      new cmd heading: 242.154532 deg.

2025-06-25T20:48:53.855Z,1750884533.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226394 target range: 119.154938 and range: 120.30 m.
2025-06-25T20:48:54.099Z,1750884534.099 [DAT](INFO): DAT read: 20:48:54.3500 LVL= 32752, 32753, 26706, 32755, AGC= 68, IDX= 403,-0.04, 1.473, 0.082, 1.498, 1.042, PHS= 0.519,-0.914, 0.453, RAW= 147.7,  -0.8, CAL= 151.4,  -9.8, ROT= 358.6,   9.8

2025-06-25T20:48:54.100Z,1750884534.100 [DAT](INFO): got valid direction response:
 20:48:54.3500 LVL= 32752, 32753, 26706, 32755, AGC= 68, IDX= 403,-0.04, 1.473, 0.082, 1.498, 1.042, PHS= 0.519,-0.914, 0.453, RAW= 147.7,  -0.8, CAL= 151.4,  -9.8, ROT= 358.6,   9.8

2025-06-25T20:48:54.101Z,1750884534.101 [DAT](INFO): DAT read: Bearing 358.6,   9.8 (Local)

2025-06-25T20:48:54.101Z,1750884534.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,   9.8 (Local)

2025-06-25T20:48:54.103Z,1750884534.103 [DAT](INFO): DAT read: Range 10 to 50 : 117.6 m  (Round-trip  156.9 ms) speed  0.5 m/s

2025-06-25T20:48:54.103Z,1750884534.103 [DAT](INFO): DAT read: user:702>

2025-06-25T20:48:54.104Z,1750884534.104 [DAT](INFO): DAT read: Tx time:20:48:55.4389

2025-06-25T20:48:54.105Z,1750884534.105 [DAT](INFO): Ping request sent.
2025-06-25T20:48:54.105Z,1750884534.105 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:54.105Z,1750884534.105 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:54.106Z,1750884534.106 [DAT](INFO): direction in FSK: [0.985114,-0.024075,-0.170209]
2025-06-25T20:48:54.106Z,1750884534.106 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:54.106Z,1750884534.106 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:54.115Z,1750884534.115 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:54.115Z,1750884534.115 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:54.345Z,1750884534.345 [DAT](INFO): DAT read: TxSync time:20:48:55.4381

2025-06-25T20:48:54.371Z,1750884534.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.599998 m,
      deltaT: 3.527967 s,
      deltaX: -2.700005 m,
      approachRate: -0.765315 m/s,
      rangeRepo size: 4

2025-06-25T20:48:54.377Z,1750884534.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.480667 m,
      bearing: 241.393475 deg,
      lat: 36.906273 deg,
      lon: -122.116367 deg,
      deltaT: 3.527967 s,
      deltaX: -2.674271 m,
      approachRate: -0.758020 m/s,
      posRepo size: 4

2025-06-25T20:48:54.378Z,1750884534.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:54.385Z,1750884534.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 114.828072 m,
      bearing: 240.980545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005968 deg/s,
      cmd heading: 242.154522 deg,
      new cmd heading: 242.163886 deg.

2025-06-25T20:48:54.386Z,1750884534.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226557 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:54.683Z,1750884534.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:54.686Z,1750884534.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 114.592941 m,
      bearing: 240.982846 deg,
      approach rate: -0.751357 m/s,
      LOS rate: 0.007366 deg/s,
      cmd heading: 242.163893 deg,
      new cmd heading: 242.170808 deg.

2025-06-25T20:48:54.687Z,1750884534.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226678 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:55.089Z,1750884535.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:55.091Z,1750884535.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 114.317093 m,
      bearing: 240.985819 deg,
      approach rate: -0.680136 m/s,
      LOS rate: 0.007350 deg/s,
      cmd heading: 242.170805 deg,
      new cmd heading: 242.179747 deg.

2025-06-25T20:48:55.097Z,1750884535.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226834 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:55.512Z,1750884535.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:55.514Z,1750884535.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 114.017227 m,
      bearing: 240.987490 deg,
      approach rate: -0.709261 m/s,
      LOS rate: 0.003961 deg/s,
      cmd heading: 242.179739 deg,
      new cmd heading: 242.184763 deg.

2025-06-25T20:48:55.515Z,1750884535.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226922 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:55.883Z,1750884535.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:55.886Z,1750884535.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:55.905Z,1750884535.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 113.759308 m,
      bearing: 240.988881 deg,
      approach rate: -0.689204 m/s,
      LOS rate: 0.003726 deg/s,
      cmd heading: 242.184766 deg,
      new cmd heading: 242.188949 deg.

2025-06-25T20:48:55.906Z,1750884535.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226995 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:56.108Z,1750884536.108 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:56.109Z,1750884536.109 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:56.109Z,1750884536.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:56.318Z,1750884536.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:56.321Z,1750884536.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 113.467880 m,
      bearing: 240.987596 deg,
      approach rate: -0.674078 m/s,
      LOS rate: -0.002979 deg/s,
      cmd heading: 242.188946 deg,
      new cmd heading: 242.185081 deg.

2025-06-25T20:48:56.322Z,1750884536.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226927 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:56.361Z,1750884536.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256223
2025-06-25T20:48:56.613Z,1750884536.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507950
2025-06-25T20:48:56.697Z,1750884536.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:56.700Z,1750884536.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 113.211784 m,
      bearing: 240.986439 deg,
      approach rate: -0.675988 m/s,
      LOS rate: -0.003063 deg/s,
      cmd heading: 242.185093 deg,
      new cmd heading: 242.181613 deg.

2025-06-25T20:48:56.701Z,1750884536.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226867 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:56.865Z,1750884536.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760332
2025-06-25T20:48:57.104Z,1750884537.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:57.107Z,1750884537.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 112.937256 m,
      bearing: 240.985169 deg,
      approach rate: -0.674768 m/s,
      LOS rate: -0.003129 deg/s,
      cmd heading: 242.181624 deg,
      new cmd heading: 242.177804 deg.

2025-06-25T20:48:57.108Z,1750884537.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226800 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:57.117Z,1750884537.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012126
2025-06-25T20:48:57.369Z,1750884537.369 [DAT](INFO): DAT read: Rx Time:20:48:57.9968

2025-06-25T20:48:57.369Z,1750884537.369 [DAT](INFO): Rx dataTimestamp_ set to:1750884537.368987
2025-06-25T20:48:57.370Z,1750884537.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265043
2025-06-25T20:48:57.526Z,1750884537.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.48 m.
2025-06-25T20:48:57.529Z,1750884537.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.480667 m,
      nav range: 112.657143 m,
      bearing: 240.985247 deg,
      approach rate: -0.663582 m/s,
      LOS rate: 0.000186 deg/s,
      cmd heading: 242.177799 deg,
      new cmd heading: 242.178035 deg.

2025-06-25T20:48:57.530Z,1750884537.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226804 target range: 116.480667 and range: 117.60 m.
2025-06-25T20:48:57.621Z,1750884537.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516156
2025-06-25T20:48:57.879Z,1750884537.879 [DAT](INFO): DAT read: 20:48:57.9968 LVL= 26928, 30705, 22050, 32755, AGC= 70, IDX= 403,-0.14,-1.127,-2.477,-1.068,-1.550, PHS= 0.511,-0.880, 0.479, RAW= 148.8,  -1.6, CAL= 152.7, -10.5, ROT= 357.3,  10.5

2025-06-25T20:48:57.880Z,1750884537.880 [DAT](INFO): got valid direction response:
 20:48:57.9968 LVL= 26928, 30705, 22050, 32755, AGC= 70, IDX= 403,-0.14,-1.127,-2.477,-1.068,-1.550, PHS= 0.511,-0.880, 0.479, RAW= 148.8,  -1.6, CAL= 152.7, -10.5, ROT= 357.3,  10.5

2025-06-25T20:48:57.881Z,1750884537.881 [DAT](INFO): DAT read: Bearing 357.3,  10.5 (Local)

2025-06-25T20:48:57.881Z,1750884537.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  10.5 (Local)

2025-06-25T20:48:57.883Z,1750884537.883 [DAT](INFO): DAT read: Range 10 to 50 : 115.3 m  (Round-trip  153.8 ms) speed  0.7 m/s

2025-06-25T20:48:57.883Z,1750884537.883 [DAT](INFO): DAT read: user:703>

2025-06-25T20:48:57.885Z,1750884537.885 [DAT](INFO): DAT read: Tx time:20:48:59.0889

2025-06-25T20:48:57.885Z,1750884537.885 [DAT](INFO): Ping request sent.
2025-06-25T20:48:57.885Z,1750884537.885 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:48:57.885Z,1750884537.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:48:57.886Z,1750884537.886 [DAT](INFO): direction in FSK: [0.982163,-0.046318,-0.182236]
2025-06-25T20:48:57.887Z,1750884537.887 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:57.887Z,1750884537.887 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:57.890Z,1750884537.890 [DAT](INFO): publishing transmit ping time
2025-06-25T20:48:57.890Z,1750884537.890 [DAT](INFO): publishing direction and range info
2025-06-25T20:48:57.999Z,1750884537.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.300003 m,
      deltaT: 3.779927 s,
      deltaX: -2.299995 m,
      approachRate: -0.608476 m/s,
      rangeRepo size: 4

2025-06-25T20:48:58.009Z,1750884538.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.202629 m,
      bearing: 240.158382 deg,
      lat: 36.906258 deg,
      lon: -122.116362 deg,
      deltaT: 3.779927 s,
      deltaX: -2.278038 m,
      approachRate: -0.602667 m/s,
      posRepo size: 4

2025-06-25T20:48:58.010Z,1750884538.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:48:58.025Z,1750884538.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 112.758347 m,
      bearing: 240.158793 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000186 deg/s,
      cmd heading: 242.178045 deg,
      new cmd heading: 242.178309 deg.

2025-06-25T20:48:58.026Z,1750884538.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226809 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:48:58.126Z,1750884538.126 [DAT](INFO): DAT read: TxSync time:20:48:59.0881

2025-06-25T20:48:58.375Z,1750884538.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:48:58.377Z,1750884538.377 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:48:58.377Z,1750884538.377 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:48:58.377Z,1750884538.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:48:58.381Z,1750884538.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:48:58.400Z,1750884538.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 112.492119 m,
      bearing: 240.156991 deg,
      approach rate: -0.694917 m/s,
      LOS rate: -0.004715 deg/s,
      cmd heading: 242.178318 deg,
      new cmd heading: 242.172899 deg.

2025-06-25T20:48:58.401Z,1750884538.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226715 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:48:58.629Z,1750884538.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744235
2025-06-25T20:48:58.740Z,1750884538.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:48:58.748Z,1750884538.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 112.252785 m,
      bearing: 240.155689 deg,
      approach rate: -0.667362 m/s,
      LOS rate: -0.003640 deg/s,
      cmd heading: 242.172908 deg,
      new cmd heading: 242.168992 deg.

2025-06-25T20:48:58.749Z,1750884538.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226646 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:48:58.881Z,1750884538.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995477
2025-06-25T20:48:59.133Z,1750884539.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248129
2025-06-25T20:48:59.168Z,1750884539.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:48:59.171Z,1750884539.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 111.970367 m,
      bearing: 240.154161 deg,
      approach rate: -0.659812 m/s,
      LOS rate: -0.003577 deg/s,
      cmd heading: 242.169002 deg,
      new cmd heading: 242.164408 deg.

2025-06-25T20:48:59.172Z,1750884539.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226566 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:48:59.385Z,1750884539.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499573
2025-06-25T20:48:59.594Z,1750884539.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:48:59.601Z,1750884539.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 111.701805 m,
      bearing: 240.150530 deg,
      approach rate: -0.629659 m/s,
      LOS rate: -0.008534 deg/s,
      cmd heading: 242.164412 deg,
      new cmd heading: 242.153492 deg.

2025-06-25T20:48:59.602Z,1750884539.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226376 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:48:59.637Z,1750884539.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751950
2025-06-25T20:48:59.889Z,1750884539.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003533
2025-06-25T20:48:59.960Z,1750884539.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:48:59.963Z,1750884539.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 111.441261 m,
      bearing: 240.146724 deg,
      approach rate: -0.711503 m/s,
      LOS rate: -0.010419 deg/s,
      cmd heading: 242.153483 deg,
      new cmd heading: 242.142038 deg.

2025-06-25T20:48:59.964Z,1750884539.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226176 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:49:00.141Z,1750884540.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255559
2025-06-25T20:49:00.379Z,1750884540.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:00.382Z,1750884540.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:49:00.385Z,1750884540.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 111.159668 m,
      bearing: 240.145490 deg,
      approach rate: -0.668526 m/s,
      LOS rate: -0.002937 deg/s,
      cmd heading: 242.142036 deg,
      new cmd heading: 242.138324 deg.

2025-06-25T20:49:00.386Z,1750884540.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226111 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:49:00.401Z,1750884540.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516186
2025-06-25T20:49:00.653Z,1750884540.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768219
2025-06-25T20:49:00.784Z,1750884540.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:49:00.787Z,1750884540.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 110.903236 m,
      bearing: 240.144260 deg,
      approach rate: -0.637843 m/s,
      LOS rate: -0.003065 deg/s,
      cmd heading: 242.138320 deg,
      new cmd heading: 242.134623 deg.

2025-06-25T20:49:00.787Z,1750884540.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226047 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:49:00.905Z,1750884540.905 [DAT](INFO): DAT read: Rx Time:20:49:01.6434

2025-06-25T20:49:00.906Z,1750884540.906 [DAT](INFO): Rx dataTimestamp_ set to:1750884540.905388
2025-06-25T20:49:00.907Z,1750884540.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021298
2025-06-25T20:49:01.157Z,1750884541.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271576
2025-06-25T20:49:01.169Z,1750884541.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.20 m.
2025-06-25T20:49:01.172Z,1750884541.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.202629 m,
      nav range: 110.631630 m,
      bearing: 240.142907 deg,
      approach rate: -0.705056 m/s,
      LOS rate: -0.003520 deg/s,
      cmd heading: 242.134632 deg,
      new cmd heading: 242.130564 deg.

2025-06-25T20:49:01.173Z,1750884541.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225976 target range: 114.202629 and range: 115.30 m.
2025-06-25T20:49:01.417Z,1750884541.417 [DAT](INFO): DAT read: 20:49:01.6434 LVL= 25312, 32753, 17858, 32755, AGC= 70, IDX= 400, 0.05,-0.028,-1.426,-0.007,-0.493, PHS= 0.552,-0.887, 0.483, RAW= 147.6,  -2.1, CAL= 151.7, -11.1, ROT= 358.3,  11.1

2025-06-25T20:49:01.418Z,1750884541.418 [DAT](INFO): got valid direction response:
 20:49:01.6434 LVL= 25312, 32753, 17858, 32755, AGC= 70, IDX= 400, 0.05,-0.028,-1.426,-0.007,-0.493, PHS= 0.552,-0.887, 0.483, RAW= 147.6,  -2.1, CAL= 151.7, -11.1, ROT= 358.3,  11.1

2025-06-25T20:49:01.419Z,1750884541.419 [DAT](INFO): DAT read: Bearing 358.3,  11.1 (Local)

2025-06-25T20:49:01.419Z,1750884541.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  11.1 (Local)

2025-06-25T20:49:01.421Z,1750884541.421 [DAT](INFO): DAT read: Range 10 to 50 : 112.7 m  (Round-trip  150.3 ms) speed  0.5 m/s

2025-06-25T20:49:01.422Z,1750884541.422 [DAT](INFO): DAT read: user:704>

2025-06-25T20:49:01.423Z,1750884541.423 [DAT](INFO): DAT read: Tx time:20:49:02.7389

2025-06-25T20:49:01.423Z,1750884541.423 [DAT](INFO): Ping request sent.
2025-06-25T20:49:01.423Z,1750884541.423 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:01.423Z,1750884541.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:01.425Z,1750884541.425 [DAT](INFO): direction in FSK: [0.980861,-0.029112,-0.192522]
2025-06-25T20:49:01.425Z,1750884541.425 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:01.425Z,1750884541.425 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:01.428Z,1750884541.428 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:01.428Z,1750884541.428 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:01.650Z,1750884541.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.699997 m,
      deltaT: 3.535970 s,
      deltaX: -2.600006 m,
      approachRate: -0.735302 m/s,
      rangeRepo size: 4

2025-06-25T20:49:01.657Z,1750884541.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.627365 m,
      bearing: 241.229809 deg,
      lat: 36.906258 deg,
      lon: -122.116362 deg,
      deltaT: 3.535970 s,
      deltaX: -2.575264 m,
      approachRate: -0.728305 m/s,
      posRepo size: 4

2025-06-25T20:49:01.658Z,1750884541.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:01.662Z,1750884541.662 [DAT](INFO): DAT read: TxSync time:20:49:02.7381

2025-06-25T20:49:01.666Z,1750884541.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 110.329437 m,
      bearing: 240.141622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003520 deg/s,
      cmd heading: 242.130561 deg,
      new cmd heading: 242.125554 deg.

2025-06-25T20:49:01.673Z,1750884541.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225888 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:01.968Z,1750884541.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:01.971Z,1750884541.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 110.096558 m,
      bearing: 240.140840 deg,
      approach rate: -0.715967 m/s,
      LOS rate: -0.002409 deg/s,
      cmd heading: 242.125562 deg,
      new cmd heading: 242.123211 deg.

2025-06-25T20:49:01.989Z,1750884541.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225847 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:02.406Z,1750884542.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:02.418Z,1750884542.418 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:02.418Z,1750884542.418 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:02.419Z,1750884542.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:02.432Z,1750884542.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:02.442Z,1750884542.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 109.796654 m,
      bearing: 240.142331 deg,
      approach rate: -0.682729 m/s,
      LOS rate: 0.003404 deg/s,
      cmd heading: 242.123212 deg,
      new cmd heading: 242.127697 deg.

2025-06-25T20:49:02.448Z,1750884542.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225925 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:02.670Z,1750884542.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247113
2025-06-25T20:49:02.883Z,1750884542.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:02.887Z,1750884542.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 109.472031 m,
      bearing: 240.143953 deg,
      approach rate: -0.682287 m/s,
      LOS rate: 0.003419 deg/s,
      cmd heading: 242.127693 deg,
      new cmd heading: 242.132573 deg.

2025-06-25T20:49:02.888Z,1750884542.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226011 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:02.921Z,1750884542.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497689
2025-06-25T20:49:03.173Z,1750884543.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749604
2025-06-25T20:49:03.270Z,1750884543.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:03.277Z,1750884543.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 109.209602 m,
      bearing: 240.145057 deg,
      approach rate: -0.683137 m/s,
      LOS rate: 0.002881 deg/s,
      cmd heading: 242.132583 deg,
      new cmd heading: 242.135904 deg.

2025-06-25T20:49:03.278Z,1750884543.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226069 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:03.425Z,1750884543.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001496
2025-06-25T20:49:03.428Z,1750884543.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:49:03.677Z,1750884543.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253711
2025-06-25T20:49:03.843Z,1750884543.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:03.846Z,1750884543.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 108.835297 m,
      bearing: 240.146912 deg,
      approach rate: -0.650809 m/s,
      LOS rate: 0.003236 deg/s,
      cmd heading: 242.135916 deg,
      new cmd heading: 242.141499 deg.

2025-06-25T20:49:03.847Z,1750884543.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226166 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:03.929Z,1750884543.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505746
2025-06-25T20:49:04.159Z,1750884544.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:04.161Z,1750884544.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 108.609131 m,
      bearing: 240.147989 deg,
      approach rate: -0.715912 m/s,
      LOS rate: 0.003418 deg/s,
      cmd heading: 242.141490 deg,
      new cmd heading: 242.144729 deg.

2025-06-25T20:49:04.162Z,1750884544.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226223 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:04.181Z,1750884544.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758028
2025-06-25T20:49:04.433Z,1750884544.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009520
2025-06-25T20:49:04.434Z,1750884544.434 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:49:04.575Z,1750884544.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:04.577Z,1750884544.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:04.580Z,1750884544.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 108.315575 m,
      bearing: 240.151490 deg,
      approach rate: -0.701390 m/s,
      LOS rate: 0.008386 deg/s,
      cmd heading: 242.144741 deg,
      new cmd heading: 242.155270 deg.

2025-06-25T20:49:04.581Z,1750884544.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226407 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:04.687Z,1750884544.687 [DAT](INFO): DAT read: Rx Time:20:49:05.2901

2025-06-25T20:49:04.688Z,1750884544.688 [DAT](INFO): Rx dataTimestamp_ set to:1750884544.686907
2025-06-25T20:49:04.689Z,1750884544.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265361
2025-06-25T20:49:04.937Z,1750884544.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513518
2025-06-25T20:49:04.953Z,1750884544.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.63 m.
2025-06-25T20:49:04.956Z,1750884544.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.627365 m,
      nav range: 108.059135 m,
      bearing: 240.154668 deg,
      approach rate: -0.682228 m/s,
      LOS rate: 0.008476 deg/s,
      cmd heading: 242.155259 deg,
      new cmd heading: 242.164817 deg.

2025-06-25T20:49:04.957Z,1750884544.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226573 target range: 111.627365 and range: 112.70 m.
2025-06-25T20:49:05.195Z,1750884545.195 [DAT](INFO): DAT read: 20:49:05.2901 LVL= 23728, 31217, 19698, 32755, AGC= 68, IDX= 413, 0.02,-2.425, 2.417,-2.369,-2.865, PHS= 0.527,-0.954, 0.492, RAW= 148.8,  -0.9, CAL= 152.5,  -9.8, ROT= 357.5,   9.8

2025-06-25T20:49:05.196Z,1750884545.196 [DAT](INFO): got valid direction response:
 20:49:05.2901 LVL= 23728, 31217, 19698, 32755, AGC= 68, IDX= 413, 0.02,-2.425, 2.417,-2.369,-2.865, PHS= 0.527,-0.954, 0.492, RAW= 148.8,  -0.9, CAL= 152.5,  -9.8, ROT= 357.5,   9.8

2025-06-25T20:49:05.197Z,1750884545.197 [DAT](INFO): DAT read: Bearing 357.5,   9.8 (Local)

2025-06-25T20:49:05.197Z,1750884545.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,   9.8 (Local)

2025-06-25T20:49:05.199Z,1750884545.199 [DAT](INFO): DAT read: Range 10 to 50 : 110.1 m  (Round-trip  146.9 ms) speed  0.7 m/s

2025-06-25T20:49:05.199Z,1750884545.199 [DAT](INFO): DAT read: user:705>

2025-06-25T20:49:05.205Z,1750884545.205 [DAT](INFO): DAT read: Tx time:20:49:06.3890

2025-06-25T20:49:05.205Z,1750884545.205 [DAT](INFO): Ping request sent.
2025-06-25T20:49:05.205Z,1750884545.205 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:05.206Z,1750884545.206 [DAT](INFO): DAT read: TxSync time:20:49:06.3882

2025-06-25T20:49:05.206Z,1750884545.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:05.207Z,1750884545.207 [DAT](INFO): direction in FSK: [0.984470,-0.042983,-0.170209]
2025-06-25T20:49:05.208Z,1750884545.208 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:05.208Z,1750884545.208 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:05.211Z,1750884545.211 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:05.212Z,1750884545.212 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:05.514Z,1750884545.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.099998 m,
      deltaT: 3.779988 s,
      deltaX: -2.599998 m,
      approachRate: -0.687832 m/s,
      rangeRepo size: 4

2025-06-25T20:49:05.520Z,1750884545.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.052200 m,
      bearing: 240.343934 deg,
      lat: 36.906260 deg,
      lon: -122.116367 deg,
      deltaT: 3.779988 s,
      deltaX: -2.575165 m,
      approachRate: -0.681263 m/s,
      posRepo size: 4

2025-06-25T20:49:05.521Z,1750884545.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:05.523Z,1750884545.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 107.934547 m,
      bearing: 240.344329 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008476 deg/s,
      cmd heading: 242.164821 deg,
      new cmd heading: 242.178832 deg.

2025-06-25T20:49:05.528Z,1750884545.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226818 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:05.846Z,1750884545.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:05.854Z,1750884545.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 107.708771 m,
      bearing: 240.351170 deg,
      approach rate: -0.662043 m/s,
      LOS rate: 0.020101 deg/s,
      cmd heading: 242.178837 deg,
      new cmd heading: 242.199402 deg.

2025-06-25T20:49:05.855Z,1750884545.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227177 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:06.218Z,1750884546.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:06.221Z,1750884546.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 107.441032 m,
      bearing: 240.359426 deg,
      approach rate: -0.717678 m/s,
      LOS rate: 0.022185 deg/s,
      cmd heading: 242.199410 deg,
      new cmd heading: 242.224239 deg.

2025-06-25T20:49:06.222Z,1750884546.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227611 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:06.666Z,1750884546.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:06.673Z,1750884546.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:06.675Z,1750884546.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 107.141014 m,
      bearing: 240.364718 deg,
      approach rate: -0.660310 m/s,
      LOS rate: 0.011681 deg/s,
      cmd heading: 242.224244 deg,
      new cmd heading: 242.240166 deg.

2025-06-25T20:49:06.677Z,1750884546.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227889 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:06.701Z,1750884546.701 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:06.701Z,1750884546.701 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:06.701Z,1750884546.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:06.954Z,1750884546.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748726
2025-06-25T20:49:07.042Z,1750884547.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:07.053Z,1750884547.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 106.892822 m,
      bearing: 240.369191 deg,
      approach rate: -0.675549 m/s,
      LOS rate: 0.012202 deg/s,
      cmd heading: 242.240172 deg,
      new cmd heading: 242.253621 deg.

2025-06-25T20:49:07.054Z,1750884547.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228123 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:07.205Z,1750884547.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999336
2025-06-25T20:49:07.457Z,1750884547.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251487
2025-06-25T20:49:07.499Z,1750884547.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:07.506Z,1750884547.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 106.571686 m,
      bearing: 240.372885 deg,
      approach rate: -0.700205 m/s,
      LOS rate: 0.008080 deg/s,
      cmd heading: 242.253614 deg,
      new cmd heading: 242.264731 deg.

2025-06-25T20:49:07.507Z,1750884547.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228317 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:07.709Z,1750884547.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503485
2025-06-25T20:49:07.846Z,1750884547.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:07.849Z,1750884547.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 106.330597 m,
      bearing: 240.375674 deg,
      approach rate: -0.694616 m/s,
      LOS rate: 0.008052 deg/s,
      cmd heading: 242.264733 deg,
      new cmd heading: 242.273117 deg.

2025-06-25T20:49:07.850Z,1750884547.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228464 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:07.961Z,1750884547.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755452
2025-06-25T20:49:08.213Z,1750884548.213 [DAT](INFO): DAT read: Rx Time:20:49:08.9368

2025-06-25T20:49:08.214Z,1750884548.214 [DAT](INFO): Rx dataTimestamp_ set to:1750884548.213073
2025-06-25T20:49:08.217Z,1750884548.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010876
2025-06-25T20:49:08.245Z,1750884548.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:08.248Z,1750884548.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 106.057396 m,
      bearing: 240.378782 deg,
      approach rate: -0.683933 m/s,
      LOS rate: 0.007801 deg/s,
      cmd heading: 242.273121 deg,
      new cmd heading: 242.282470 deg.

2025-06-25T20:49:08.249Z,1750884548.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228627 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:08.465Z,1750884548.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259586
2025-06-25T20:49:08.708Z,1750884548.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:08.710Z,1750884548.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m.
2025-06-25T20:49:08.713Z,1750884548.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.052200 m,
      nav range: 105.740288 m,
      bearing: 240.381329 deg,
      approach rate: -0.682302 m/s,
      LOS rate: 0.005498 deg/s,
      cmd heading: 242.282465 deg,
      new cmd heading: 242.290130 deg.

2025-06-25T20:49:08.714Z,1750884548.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228761 target range: 109.052200 and range: 110.10 m.
2025-06-25T20:49:08.739Z,1750884548.739 [DAT](INFO): DAT read: 20:49:08.9368 LVL= 22960, 30625, 18418, 30115, AGC= 68, IDX= 411, 0.06, 1.003,-0.415, 1.057, 0.511, PHS= 0.580,-0.879, 0.543, RAW= 148.7,  -3.4, CAL= 153.2, -12.2, ROT= 356.8,  12.2

2025-06-25T20:49:08.740Z,1750884548.740 [DAT](INFO): got valid direction response:
 20:49:08.9368 LVL= 22960, 30625, 18418, 30115, AGC= 68, IDX= 411, 0.06, 1.003,-0.415, 1.057, 0.511, PHS= 0.580,-0.879, 0.543, RAW= 148.7,  -3.4, CAL= 153.2, -12.2, ROT= 356.8,  12.2

2025-06-25T20:49:08.741Z,1750884548.741 [DAT](INFO): DAT read: Bearing 356.8,  12.2 (Local)

2025-06-25T20:49:08.742Z,1750884548.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  12.2 (Local)

2025-06-25T20:49:08.743Z,1750884548.743 [DAT](INFO): DAT read: Range 10 to 50 : 107.7 m  (Round-trip  143.6 ms) speed  0.8 m/s

2025-06-25T20:49:08.745Z,1750884548.745 [DAT](INFO): DAT read: user:706>

2025-06-25T20:49:08.745Z,1750884548.745 [DAT](INFO): DAT read: Tx time:20:49:10.0390

2025-06-25T20:49:08.746Z,1750884548.746 [DAT](INFO): Ping request sent.
2025-06-25T20:49:08.746Z,1750884548.746 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:08.746Z,1750884548.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:08.747Z,1750884548.747 [DAT](INFO): direction in FSK: [0.975892,-0.054561,-0.211325]
2025-06-25T20:49:08.747Z,1750884548.747 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:08.756Z,1750884548.756 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:08.759Z,1750884548.759 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:08.759Z,1750884548.759 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:08.970Z,1750884548.970 [DAT](INFO): DAT read: TxSync time:20:49:10.0382

2025-06-25T20:49:09.074Z,1750884549.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.699997 m,
      deltaT: 3.528155 s,
      deltaX: -2.400002 m,
      approachRate: -0.680243 m/s,
      rangeRepo size: 4

2025-06-25T20:49:09.080Z,1750884549.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.675278 m,
      bearing: 239.782984 deg,
      lat: 36.906260 deg,
      lon: -122.116367 deg,
      deltaT: 3.528155 s,
      deltaX: -2.376923 m,
      approachRate: -0.673701 m/s,
      posRepo size: 4

2025-06-25T20:49:09.081Z,1750884549.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:09.083Z,1750884549.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 105.506470 m,
      bearing: 240.383193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005498 deg/s,
      cmd heading: 242.290142 deg,
      new cmd heading: 242.296133 deg.

2025-06-25T20:49:09.089Z,1750884549.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228865 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:09.501Z,1750884549.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:09.503Z,1750884549.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 105.199203 m,
      bearing: 240.382623 deg,
      approach rate: -0.718372 m/s,
      LOS rate: -0.001336 deg/s,
      cmd heading: 242.296125 deg,
      new cmd heading: 242.294410 deg.

2025-06-25T20:49:09.505Z,1750884549.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228835 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:09.864Z,1750884549.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:09.867Z,1750884549.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 104.959106 m,
      bearing: 240.382074 deg,
      approach rate: -0.661153 m/s,
      LOS rate: -0.001515 deg/s,
      cmd heading: 242.294404 deg,
      new cmd heading: 242.292753 deg.

2025-06-25T20:49:09.868Z,1750884549.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228806 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:10.281Z,1750884550.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:10.288Z,1750884550.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 104.676094 m,
      bearing: 240.381397 deg,
      approach rate: -0.678173 m/s,
      LOS rate: -0.001626 deg/s,
      cmd heading: 242.292765 deg,
      new cmd heading: 242.290728 deg.

2025-06-25T20:49:10.289Z,1750884550.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228771 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:10.702Z,1750884550.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:10.705Z,1750884550.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 104.372910 m,
      bearing: 240.381566 deg,
      approach rate: -0.720927 m/s,
      LOS rate: 0.000402 deg/s,
      cmd heading: 242.290716 deg,
      new cmd heading: 242.291222 deg.

2025-06-25T20:49:10.706Z,1750884550.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228780 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:11.065Z,1750884551.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:11.067Z,1750884551.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:11.070Z,1750884551.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 104.119514 m,
      bearing: 240.381783 deg,
      approach rate: -0.693857 m/s,
      LOS rate: 0.000597 deg/s,
      cmd heading: 242.291235 deg,
      new cmd heading: 242.291889 deg.

2025-06-25T20:49:11.071Z,1750884551.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228791 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:11.241Z,1750884551.241 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:11.241Z,1750884551.241 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:11.241Z,1750884551.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:11.493Z,1750884551.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747088
2025-06-25T20:49:11.525Z,1750884551.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:11.527Z,1750884551.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 103.807114 m,
      bearing: 240.379464 deg,
      approach rate: -0.682628 m/s,
      LOS rate: -0.005084 deg/s,
      cmd heading: 242.291890 deg,
      new cmd heading: 242.284911 deg.

2025-06-25T20:49:11.529Z,1750884551.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228670 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:11.745Z,1750884551.745 [DAT](INFO): DAT read: Rx Time:20:49:12.5835

2025-06-25T20:49:11.745Z,1750884551.745 [DAT](INFO): Rx dataTimestamp_ set to:1750884551.745113
2025-06-25T20:49:11.746Z,1750884551.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000100
2025-06-25T20:49:11.897Z,1750884551.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:11.912Z,1750884551.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 103.553040 m,
      bearing: 240.377567 deg,
      approach rate: -0.682320 m/s,
      LOS rate: -0.005106 deg/s,
      cmd heading: 242.284924 deg,
      new cmd heading: 242.279219 deg.

2025-06-25T20:49:11.914Z,1750884551.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228570 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:11.998Z,1750884551.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251883
2025-06-25T20:49:12.249Z,1750884552.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503020
2025-06-25T20:49:12.336Z,1750884552.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.68 m.
2025-06-25T20:49:12.339Z,1750884552.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.675278 m,
      nav range: 103.253990 m,
      bearing: 240.375390 deg,
      approach rate: -0.681972 m/s,
      LOS rate: -0.004979 deg/s,
      cmd heading: 242.279213 deg,
      new cmd heading: 242.272663 deg.

2025-06-25T20:49:12.340Z,1750884552.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228456 target range: 106.675278 and range: 107.70 m.
2025-06-25T20:49:12.515Z,1750884552.515 [DAT](INFO): DAT read: 20:49:12.5835 LVL= 29088, 32753, 25458, 32755, AGC= 69, IDX= 410,-0.42, 0.671,-0.666, 0.721, 0.200, PHS= 0.559,-0.820, 0.518, RAW= 148.5,  -3.8, CAL= 153.1, -12.6, ROT= 356.9,  12.6

2025-06-25T20:49:12.523Z,1750884552.523 [DAT](INFO): got valid direction response:
 20:49:12.5835 LVL= 29088, 32753, 25458, 32755, AGC= 69, IDX= 410,-0.42, 0.671,-0.666, 0.721, 0.200, PHS= 0.559,-0.820, 0.518, RAW= 148.5,  -3.8, CAL= 153.1, -12.6, ROT= 356.9,  12.6

2025-06-25T20:49:12.529Z,1750884552.529 [DAT](INFO): DAT read: Bearing 356.9,  12.6 (Local)

2025-06-25T20:49:12.530Z,1750884552.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  12.6 (Local)

2025-06-25T20:49:12.533Z,1750884552.533 [DAT](INFO): DAT read: Range 10 to 50 : 105.3 m  (Round-trip  140.4 ms) speed  0.7 m/s

2025-06-25T20:49:12.534Z,1750884552.534 [DAT](INFO): DAT read: user:707>

2025-06-25T20:49:12.535Z,1750884552.535 [DAT](INFO): DAT read: Tx time:20:49:13.6890

2025-06-25T20:49:12.535Z,1750884552.535 [DAT](INFO): Ping request sent.
2025-06-25T20:49:12.535Z,1750884552.535 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:12.536Z,1750884552.536 [DAT](INFO): DAT read: TxSync time:20:49:13.6882

2025-06-25T20:49:12.537Z,1750884552.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:12.538Z,1750884552.538 [DAT](INFO): direction in FSK: [0.974489,-0.052776,-0.218143]
2025-06-25T20:49:12.538Z,1750884552.538 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:12.538Z,1750884552.538 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:12.542Z,1750884552.542 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:12.543Z,1750884552.543 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:12.794Z,1750884552.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.300003 m,
      deltaT: 3.786312 s,
      deltaX: -2.399994 m,
      approachRate: -0.633861 m/s,
      rangeRepo size: 4

2025-06-25T20:49:12.801Z,1750884552.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.298180 m,
      bearing: 239.924140 deg,
      lat: 36.906258 deg,
      lon: -122.116362 deg,
      deltaT: 3.786312 s,
      deltaX: -2.377098 m,
      approachRate: -0.627814 m/s,
      posRepo size: 4

2025-06-25T20:49:12.801Z,1750884552.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:12.809Z,1750884552.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 102.715118 m,
      bearing: 240.188617 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004979 deg/s,
      cmd heading: 242.272657 deg,
      new cmd heading: 242.265820 deg.

2025-06-25T20:49:12.810Z,1750884552.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228336 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:13.099Z,1750884553.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:13.101Z,1750884553.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:13.104Z,1750884553.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 102.493607 m,
      bearing: 240.189532 deg,
      approach rate: -0.718858 m/s,
      LOS rate: 0.002977 deg/s,
      cmd heading: 242.265826 deg,
      new cmd heading: 242.268579 deg.

2025-06-25T20:49:13.105Z,1750884553.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228384 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:13.257Z,1750884553.257 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:13.257Z,1750884553.257 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:13.257Z,1750884553.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:13.511Z,1750884553.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975768
2025-06-25T20:49:13.573Z,1750884553.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:13.575Z,1750884553.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 102.181625 m,
      bearing: 240.189620 deg,
      approach rate: -0.662016 m/s,
      LOS rate: 0.000187 deg/s,
      cmd heading: 242.268586 deg,
      new cmd heading: 242.268850 deg.

2025-06-25T20:49:13.581Z,1750884553.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228389 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:13.761Z,1750884553.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225393
2025-06-25T20:49:13.913Z,1750884553.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:13.915Z,1750884553.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 101.932243 m,
      bearing: 240.189786 deg,
      approach rate: -0.733369 m/s,
      LOS rate: 0.000491 deg/s,
      cmd heading: 242.268859 deg,
      new cmd heading: 242.269360 deg.

2025-06-25T20:49:13.933Z,1750884553.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228398 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:14.013Z,1750884554.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477412
2025-06-25T20:49:14.265Z,1750884554.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729395
2025-06-25T20:49:14.315Z,1750884554.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:14.318Z,1750884554.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 101.653809 m,
      bearing: 240.189834 deg,
      approach rate: -0.691564 m/s,
      LOS rate: 0.000119 deg/s,
      cmd heading: 242.269351 deg,
      new cmd heading: 242.269495 deg.

2025-06-25T20:49:14.319Z,1750884554.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228400 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:14.519Z,1750884554.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983523
2025-06-25T20:49:14.745Z,1750884554.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:14.747Z,1750884554.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 101.356583 m,
      bearing: 240.190507 deg,
      approach rate: -0.692228 m/s,
      LOS rate: 0.001571 deg/s,
      cmd heading: 242.269487 deg,
      new cmd heading: 242.271511 deg.

2025-06-25T20:49:14.749Z,1750884554.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228436 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:14.769Z,1750884554.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233480
2025-06-25T20:49:15.021Z,1750884555.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485428
2025-06-25T20:49:15.131Z,1750884555.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:15.133Z,1750884555.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:15.136Z,1750884555.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 101.087746 m,
      bearing: 240.191118 deg,
      approach rate: -0.691909 m/s,
      LOS rate: 0.001578 deg/s,
      cmd heading: 242.271509 deg,
      new cmd heading: 242.273349 deg.

2025-06-25T20:49:15.137Z,1750884555.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228467 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:15.273Z,1750884555.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737477
2025-06-25T20:49:15.527Z,1750884555.527 [DAT](INFO): DAT read: Rx Time:20:49:16.2301

2025-06-25T20:49:15.529Z,1750884555.529 [DAT](INFO): Rx dataTimestamp_ set to:1750884555.528174
2025-06-25T20:49:15.530Z,1750884555.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994630
2025-06-25T20:49:15.601Z,1750884555.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:15.604Z,1750884555.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 100.763901 m,
      bearing: 240.194954 deg,
      approach rate: -0.691993 m/s,
      LOS rate: 0.008223 deg/s,
      cmd heading: 242.273340 deg,
      new cmd heading: 242.284884 deg.

2025-06-25T20:49:15.605Z,1750884555.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228669 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:15.777Z,1750884555.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241479
2025-06-25T20:49:15.999Z,1750884555.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.30 m.
2025-06-25T20:49:16.002Z,1750884556.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.298180 m,
      nav range: 100.488655 m,
      bearing: 240.198151 deg,
      approach rate: -0.691869 m/s,
      LOS rate: 0.008056 deg/s,
      cmd heading: 242.284896 deg,
      new cmd heading: 242.294511 deg.

2025-06-25T20:49:16.003Z,1750884556.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228837 target range: 104.298180 and range: 105.30 m.
2025-06-25T20:49:16.037Z,1750884556.037 [DAT](INFO): DAT read: 20:49:16.2301 LVL= 32016, 30497, 24786, 32755, AGC= 68, IDX= 405, 0.17,-0.700,-2.076,-0.653,-1.225, PHS= 0.614,-0.804, 0.569, RAW= 148.4,  -5.5, CAL= 153.5, -14.1, ROT= 356.5,  14.1

2025-06-25T20:49:16.038Z,1750884556.038 [DAT](INFO): got valid direction response:
 20:49:16.2301 LVL= 32016, 30497, 24786, 32755, AGC= 68, IDX= 405, 0.17,-0.700,-2.076,-0.653,-1.225, PHS= 0.614,-0.804, 0.569, RAW= 148.4,  -5.5, CAL= 153.5, -14.1, ROT= 356.5,  14.1

2025-06-25T20:49:16.040Z,1750884556.040 [DAT](INFO): DAT read: Bearing 356.5,  14.1 (Local)

2025-06-25T20:49:16.041Z,1750884556.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  14.1 (Local)

2025-06-25T20:49:16.043Z,1750884556.043 [DAT](INFO): DAT read: Range 10 to 50 : 102.6 m  (Round-trip  136.9 ms) speed  0.7 m/s

2025-06-25T20:49:16.044Z,1750884556.044 [DAT](INFO): DAT read: user:708>

2025-06-25T20:49:16.045Z,1750884556.045 [DAT](INFO): DAT read: Tx time:20:49:17.3391

2025-06-25T20:49:16.046Z,1750884556.046 [DAT](INFO): Ping request sent.
2025-06-25T20:49:16.046Z,1750884556.046 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:16.046Z,1750884556.046 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:16.048Z,1750884556.048 [DAT](INFO): direction in FSK: [0.968063,-0.059209,-0.243615]
2025-06-25T20:49:16.048Z,1750884556.048 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:16.049Z,1750884556.049 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:16.071Z,1750884556.071 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:16.071Z,1750884556.071 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:16.281Z,1750884556.281 [DAT](INFO): DAT read: TxSync time:20:49:17.3383

2025-06-25T20:49:16.362Z,1750884556.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.599998 m,
      deltaT: 3.525676 s,
      deltaX: -2.700005 m,
      approachRate: -0.765812 m/s,
      rangeRepo size: 4

2025-06-25T20:49:16.369Z,1750884556.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.623894 m,
      bearing: 239.566117 deg,
      lat: 36.906254 deg,
      lon: -122.116360 deg,
      deltaT: 3.525676 s,
      deltaX: -2.674286 m,
      approachRate: -0.758517 m/s,
      posRepo size: 4

2025-06-25T20:49:16.370Z,1750884556.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:16.377Z,1750884556.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 100.254356 m,
      bearing: 239.930362 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008056 deg/s,
      cmd heading: 242.294513 deg,
      new cmd heading: 242.303273 deg.

2025-06-25T20:49:16.378Z,1750884556.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228990 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:16.782Z,1750884556.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:16.787Z,1750884556.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 99.950317 m,
      bearing: 239.935339 deg,
      approach rate: -0.722597 m/s,
      LOS rate: 0.011863 deg/s,
      cmd heading: 242.303283 deg,
      new cmd heading: 242.318258 deg.

2025-06-25T20:49:16.788Z,1750884556.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229251 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:17.143Z,1750884557.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:17.146Z,1750884557.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:17.149Z,1750884557.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 99.697647 m,
      bearing: 239.939651 deg,
      approach rate: -0.695108 m/s,
      LOS rate: 0.011893 deg/s,
      cmd heading: 242.318255 deg,
      new cmd heading: 242.331224 deg.

2025-06-25T20:49:17.150Z,1750884557.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229478 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:17.289Z,1750884557.289 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:17.289Z,1750884557.289 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:17.289Z,1750884557.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:17.544Z,1750884557.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497420
2025-06-25T20:49:17.611Z,1750884557.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:17.635Z,1750884557.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 99.371368 m,
      bearing: 239.943411 deg,
      approach rate: -0.701863 m/s,
      LOS rate: 0.008116 deg/s,
      cmd heading: 242.331232 deg,
      new cmd heading: 242.342551 deg.

2025-06-25T20:49:17.650Z,1750884557.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229675 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:17.793Z,1750884557.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746966
2025-06-25T20:49:18.045Z,1750884558.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999017
2025-06-25T20:49:18.110Z,1750884558.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:18.128Z,1750884558.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 99.021645 m,
      bearing: 239.947087 deg,
      approach rate: -0.700856 m/s,
      LOS rate: 0.007392 deg/s,
      cmd heading: 242.342543 deg,
      new cmd heading: 242.353609 deg.

2025-06-25T20:49:18.129Z,1750884558.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229868 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:18.297Z,1750884558.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251048
2025-06-25T20:49:18.511Z,1750884558.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:18.519Z,1750884558.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 98.739738 m,
      bearing: 239.949937 deg,
      approach rate: -0.702194 m/s,
      LOS rate: 0.007119 deg/s,
      cmd heading: 242.353608 deg,
      new cmd heading: 242.362182 deg.

2025-06-25T20:49:18.520Z,1750884558.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230018 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:18.551Z,1750884558.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504927
2025-06-25T20:49:18.801Z,1750884558.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755002
2025-06-25T20:49:18.992Z,1750884558.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:18.994Z,1750884558.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 98.416405 m,
      bearing: 239.953095 deg,
      approach rate: -0.678640 m/s,
      LOS rate: 0.006651 deg/s,
      cmd heading: 242.362187 deg,
      new cmd heading: 242.371694 deg.

2025-06-25T20:49:18.995Z,1750884558.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230184 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:19.054Z,1750884559.054 [DAT](INFO): DAT read: Rx Time:20:49:19.8767

2025-06-25T20:49:19.055Z,1750884559.055 [DAT](INFO): Rx dataTimestamp_ set to:1750884559.054003
2025-06-25T20:49:19.055Z,1750884559.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009390
2025-06-25T20:49:19.305Z,1750884559.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258984
2025-06-25T20:49:19.368Z,1750884559.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:19.370Z,1750884559.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:19.377Z,1750884559.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 98.157639 m,
      bearing: 239.955545 deg,
      approach rate: -0.676506 m/s,
      LOS rate: 0.006420 deg/s,
      cmd heading: 242.371694 deg,
      new cmd heading: 242.379062 deg.

2025-06-25T20:49:19.378Z,1750884559.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230313 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:19.561Z,1750884559.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514910
2025-06-25T20:49:19.777Z,1750884559.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.62 m.
2025-06-25T20:49:19.780Z,1750884559.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.623894 m,
      nav range: 97.856262 m,
      bearing: 239.954267 deg,
      approach rate: -0.740690 m/s,
      LOS rate: -0.003149 deg/s,
      cmd heading: 242.379071 deg,
      new cmd heading: 242.375227 deg.

2025-06-25T20:49:19.781Z,1750884559.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230246 target range: 101.623894 and range: 102.60 m.
2025-06-25T20:49:19.815Z,1750884559.815 [DAT](INFO): DAT read: 20:49:19.8767 LVL= 23536, 30481, 19986, 32755, AGC= 66, IDX= 403,-0.11,-2.209, 2.712,-2.170,-2.709, PHS= 0.588,-0.814, 0.536, RAW= 148.1,  -4.6, CAL= 153.0, -13.3, ROT= 357.0,  13.3

2025-06-25T20:49:19.816Z,1750884559.816 [DAT](INFO): got valid direction response:
 20:49:19.8767 LVL= 23536, 30481, 19986, 32755, AGC= 66, IDX= 403,-0.11,-2.209, 2.712,-2.170,-2.709, PHS= 0.588,-0.814, 0.536, RAW= 148.1,  -4.6, CAL= 153.0, -13.3, ROT= 357.0,  13.3

2025-06-25T20:49:19.817Z,1750884559.817 [DAT](INFO): DAT read: Bearing 357.0,  13.3 (Local)

2025-06-25T20:49:19.818Z,1750884559.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  13.3 (Local)

2025-06-25T20:49:19.819Z,1750884559.819 [DAT](INFO): DAT read: Range 10 to 50 : 100.0 m  (Round-trip  133.4 ms) speed  0.5 m/s

2025-06-25T20:49:19.820Z,1750884559.820 [DAT](INFO): DAT read: user:709>

2025-06-25T20:49:19.821Z,1750884559.821 [DAT](INFO): DAT read: Tx time:20:49:20.9907

2025-06-25T20:49:19.821Z,1750884559.821 [DAT](INFO): Ping request sent.
2025-06-25T20:49:19.821Z,1750884559.821 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:19.822Z,1750884559.822 [DAT](INFO): DAT read: TxSync time:20:49:20.9899

2025-06-25T20:49:19.822Z,1750884559.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:19.823Z,1750884559.823 [DAT](INFO): direction in FSK: [0.971845,-0.050932,-0.230050]
2025-06-25T20:49:19.824Z,1750884559.824 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:19.824Z,1750884559.824 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:19.827Z,1750884559.827 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:19.827Z,1750884559.827 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:20.170Z,1750884560.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.000000 m,
      deltaT: 3.780013 s,
      deltaX: -2.599998 m,
      approachRate: -0.687828 m/s,
      rangeRepo size: 4

2025-06-25T20:49:20.176Z,1750884560.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.048805 m,
      bearing: 240.184356 deg,
      lat: 36.906254 deg,
      lon: -122.116360 deg,
      deltaT: 3.780013 s,
      deltaX: -2.575089 m,
      approachRate: -0.681238 m/s,
      posRepo size: 4

2025-06-25T20:49:20.177Z,1750884560.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:20.179Z,1750884560.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 97.600601 m,
      bearing: 239.953234 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003149 deg/s,
      cmd heading: 242.375219 deg,
      new cmd heading: 242.371514 deg.

2025-06-25T20:49:20.182Z,1750884560.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230181 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:20.625Z,1750884560.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:20.635Z,1750884560.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 97.314476 m,
      bearing: 239.951942 deg,
      approach rate: -0.634717 m/s,
      LOS rate: -0.002873 deg/s,
      cmd heading: 242.371503 deg,
      new cmd heading: 242.367617 deg.

2025-06-25T20:49:20.648Z,1750884560.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230113 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:20.997Z,1750884560.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:21.004Z,1750884561.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 97.029434 m,
      bearing: 239.952188 deg,
      approach rate: -0.755832 m/s,
      LOS rate: 0.000655 deg/s,
      cmd heading: 242.367623 deg,
      new cmd heading: 242.368364 deg.

2025-06-25T20:49:21.005Z,1750884561.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230126 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:21.368Z,1750884561.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:21.371Z,1750884561.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 96.760658 m,
      bearing: 239.952309 deg,
      approach rate: -0.725130 m/s,
      LOS rate: 0.000326 deg/s,
      cmd heading: 242.368361 deg,
      new cmd heading: 242.368723 deg.

2025-06-25T20:49:21.371Z,1750884561.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230132 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:21.804Z,1750884561.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:21.806Z,1750884561.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:21.809Z,1750884561.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 96.459442 m,
      bearing: 239.950959 deg,
      approach rate: -0.687245 m/s,
      LOS rate: -0.003090 deg/s,
      cmd heading: 242.368716 deg,
      new cmd heading: 242.364653 deg.

2025-06-25T20:49:21.810Z,1750884561.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230061 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:21.825Z,1750884561.825 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:21.825Z,1750884561.825 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:21.825Z,1750884561.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:22.077Z,1750884562.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255343
2025-06-25T20:49:22.180Z,1750884562.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:22.183Z,1750884562.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 96.209969 m,
      bearing: 239.949817 deg,
      approach rate: -0.666222 m/s,
      LOS rate: -0.003056 deg/s,
      cmd heading: 242.364645 deg,
      new cmd heading: 242.361212 deg.

2025-06-25T20:49:22.184Z,1750884562.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230001 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:22.329Z,1750884562.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507284
2025-06-25T20:49:22.577Z,1750884562.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:22.581Z,1750884562.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759492
2025-06-25T20:49:22.582Z,1750884562.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 95.931496 m,
      bearing: 239.948537 deg,
      approach rate: -0.706175 m/s,
      LOS rate: -0.003256 deg/s,
      cmd heading: 242.361203 deg,
      new cmd heading: 242.357352 deg.

2025-06-25T20:49:22.583Z,1750884562.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229934 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:22.833Z,1750884562.833 [DAT](INFO): DAT read: Rx Time:20:49

2025-06-25T20:49:22.833Z,1750884562.833 [DAT](INFO): Rx dataTimestamp_ set to:1750884562.832931
2025-06-25T20:49:22.834Z,1750884562.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012313
2025-06-25T20:49:22.995Z,1750884562.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.05 m.
2025-06-25T20:49:22.999Z,1750884562.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.048805 m,
      nav range: 95.640495 m,
      bearing: 239.947192 deg,
      approach rate: -0.691654 m/s,
      LOS rate: -0.003208 deg/s,
      cmd heading: 242.357351 deg,
      new cmd heading: 242.353302 deg.

2025-06-25T20:49:22.999Z,1750884562.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229863 target range: 99.048805 and range: 100.00 m.
2025-06-25T20:49:23.085Z,1750884563.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264039
2025-06-25T20:49:23.343Z,1750884563.343 [DAT](INFO): DAT read: 20:49:23.5249 LVL= 24656, 29745, 23666, 32755, AGC= 68, IDX= 400, 0.22,-1.730, 3.085,-1.698,-2.245, PHS= 0.603,-0.906, 0.544, RAW= 148.0,  -3.3, CAL= 152.5, -12.1, ROT= 357.5,  12.1

2025-06-25T20:49:23.344Z,1750884563.344 [DAT](INFO): got valid direction response:
 20:49:23.5249 LVL= 24656, 29745, 23666, 32755, AGC= 68, IDX= 400, 0.22,-1.730, 3.085,-1.698,-2.245, PHS= 0.603,-0.906, 0.544, RAW= 148.0,  -3.3, CAL= 152.5, -12.1, ROT= 357.5,  12.1

2025-06-25T20:49:23.345Z,1750884563.345 [DAT](INFO): DAT read: Bearing 357.5,  12.1 (Local)

2025-06-25T20:49:23.346Z,1750884563.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  12.1 (Local)

2025-06-25T20:49:23.347Z,1750884563.347 [DAT](INFO): DAT read: Range 10 to 50 : 97.5 m  (Round-trip  130.0 ms) speed  0.7 m/s

2025-06-25T20:49:23.360Z,1750884563.360 [DAT](INFO): DAT read: user:710>

2025-06-25T20:49:23.361Z,1750884563.361 [DAT](INFO): DAT read: Tx time:20:49:24.6391

2025-06-25T20:49:23.361Z,1750884563.361 [DAT](INFO): Ping request sent.
2025-06-25T20:49:23.361Z,1750884563.361 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:23.362Z,1750884563.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:23.363Z,1750884563.363 [DAT](INFO): direction in FSK: [0.976853,-0.042650,-0.209619]
2025-06-25T20:49:23.363Z,1750884563.363 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:23.363Z,1750884563.363 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:23.366Z,1750884563.366 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:23.367Z,1750884563.367 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:23.495Z,1750884563.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.500000 m,
      deltaT: 3.527890 s,
      deltaX: -2.500000 m,
      approachRate: -0.708639 m/s,
      rangeRepo size: 4

2025-06-25T20:49:23.502Z,1750884563.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.572601 m,
      bearing: 240.814796 deg,
      lat: 36.906254 deg,
      lon: -122.116360 deg,
      deltaT: 3.527890 s,
      deltaX: -2.476204 m,
      approachRate: -0.701894 m/s,
      posRepo size: 4

2025-06-25T20:49:23.502Z,1750884563.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:23.509Z,1750884563.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 95.335152 m,
      bearing: 239.945607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003208 deg/s,
      cmd heading: 242.353307 deg,
      new cmd heading: 242.348503 deg.

2025-06-25T20:49:23.510Z,1750884563.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229779 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:23.592Z,1750884563.592 [DAT](INFO): DAT read: TxSync time:20:49:24.6383

2025-06-25T20:49:23.865Z,1750884563.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:23.869Z,1750884563.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:23.877Z,1750884563.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 95.045715 m,
      bearing: 239.944096 deg,
      approach rate: -0.775430 m/s,
      LOS rate: -0.004061 deg/s,
      cmd heading: 242.348499 deg,
      new cmd heading: 242.343951 deg.

2025-06-25T20:49:23.878Z,1750884563.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229700 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:24.093Z,1750884564.093 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:24.093Z,1750884564.093 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:24.094Z,1750884564.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:24.213Z,1750884564.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:24.215Z,1750884564.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 94.803741 m,
      bearing: 239.942875 deg,
      approach rate: -0.702151 m/s,
      LOS rate: -0.003550 deg/s,
      cmd heading: 242.343964 deg,
      new cmd heading: 242.340293 deg.

2025-06-25T20:49:24.217Z,1750884564.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229636 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:24.345Z,1750884564.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983541
2025-06-25T20:49:24.597Z,1750884564.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235388
2025-06-25T20:49:24.614Z,1750884564.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:24.642Z,1750884564.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 94.529900 m,
      bearing: 239.941557 deg,
      approach rate: -0.682108 m/s,
      LOS rate: -0.003293 deg/s,
      cmd heading: 242.340303 deg,
      new cmd heading: 242.336337 deg.

2025-06-25T20:49:24.672Z,1750884564.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229567 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:24.849Z,1750884564.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487247
2025-06-25T20:49:25.058Z,1750884565.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:25.061Z,1750884565.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 94.227211 m,
      bearing: 239.940335 deg,
      approach rate: -0.681613 m/s,
      LOS rate: -0.002761 deg/s,
      cmd heading: 242.336341 deg,
      new cmd heading: 242.332662 deg.

2025-06-25T20:49:25.062Z,1750884565.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229503 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:25.101Z,1750884565.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739543
2025-06-25T20:49:25.353Z,1750884565.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991308
2025-06-25T20:49:25.432Z,1750884565.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:25.435Z,1750884565.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 93.974716 m,
      bearing: 239.939146 deg,
      approach rate: -0.675582 m/s,
      LOS rate: -0.003190 deg/s,
      cmd heading: 242.332653 deg,
      new cmd heading: 242.329076 deg.

2025-06-25T20:49:25.436Z,1750884565.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229440 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:25.607Z,1750884565.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245438
2025-06-25T20:49:25.857Z,1750884565.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495228
2025-06-25T20:49:25.878Z,1750884565.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:25.883Z,1750884565.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:25.893Z,1750884565.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 93.680130 m,
      bearing: 239.936801 deg,
      approach rate: -0.657680 m/s,
      LOS rate: -0.005253 deg/s,
      cmd heading: 242.329074 deg,
      new cmd heading: 242.322016 deg.

2025-06-25T20:49:25.894Z,1750884565.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229317 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:26.110Z,1750884566.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748243
2025-06-25T20:49:26.233Z,1750884566.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:26.237Z,1750884566.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 93.432144 m,
      bearing: 239.934631 deg,
      approach rate: -0.701208 m/s,
      LOS rate: -0.006151 deg/s,
      cmd heading: 242.322025 deg,
      new cmd heading: 242.315499 deg.

2025-06-25T20:49:26.238Z,1750884566.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229203 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:26.361Z,1750884566.361 [DAT](INFO): DAT read: Rx Time:20:49:27.1700

2025-06-25T20:49:26.361Z,1750884566.361 [DAT](INFO): Rx dataTimestamp_ set to:1750884566.361076
2025-06-25T20:49:26.362Z,1750884566.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000420
2025-06-25T20:49:26.613Z,1750884566.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251425
2025-06-25T20:49:26.647Z,1750884566.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:26.689Z,1750884566.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 93.157715 m,
      bearing: 239.932073 deg,
      approach rate: -0.664108 m/s,
      LOS rate: -0.006209 deg/s,
      cmd heading: 242.315495 deg,
      new cmd heading: 242.307798 deg.

2025-06-25T20:49:26.697Z,1750884566.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229069 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:26.868Z,1750884566.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505984
2025-06-25T20:49:27.067Z,1750884567.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.57 m.
2025-06-25T20:49:27.082Z,1750884567.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.572601 m,
      nav range: 92.870468 m,
      bearing: 239.929624 deg,
      approach rate: -0.683103 m/s,
      LOS rate: -0.005840 deg/s,
      cmd heading: 242.307791 deg,
      new cmd heading: 242.300424 deg.

2025-06-25T20:49:27.083Z,1750884567.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228940 target range: 96.572601 and range: 97.50 m.
2025-06-25T20:49:27.123Z,1750884567.123 [DAT](INFO): DAT read: 20:49:27.1700 LVL= 20784, 26513, 18194, 32755, AGC= 68, IDX= 413, 0.37,-1.423,-2.883,-1.337,-1.960, PHS= 0.625,-0.876, 0.620, RAW= 149.8,  -5.0, CAL= 154.6, -13.5, ROT= 355.4,  13.5

2025-06-25T20:49:27.126Z,1750884567.126 [DAT](INFO): got valid direction response:
 20:49:27.1700 LVL= 20784, 26513, 18194, 32755, AGC= 68, IDX= 413, 0.37,-1.423,-2.883,-1.337,-1.960, PHS= 0.625,-0.876, 0.620, RAW= 149.8,  -5.0, CAL= 154.6, -13.5, ROT= 355.4,  13.5

2025-06-25T20:49:27.127Z,1750884567.127 [DAT](INFO): DAT read: Bearing 355.4,  13.5 (Local)

2025-06-25T20:49:27.127Z,1750884567.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,  13.5 (Local)

2025-06-25T20:49:27.129Z,1750884567.129 [DAT](INFO): DAT read: Range 10 to 50 : 95.0 m  (Round-trip  126.7 ms) speed  0.6 m/s

2025-06-25T20:49:27.130Z,1750884567.130 [DAT](INFO): DAT read: user:711>

2025-06-25T20:49:27.131Z,1750884567.131 [DAT](INFO): DAT read: Tx time:20:49:28.2891

2025-06-25T20:49:27.131Z,1750884567.131 [DAT](INFO): Ping request sent.
2025-06-25T20:49:27.131Z,1750884567.131 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:27.133Z,1750884567.133 [DAT](INFO): DAT read: TxSync time:20:49:28.2883

2025-06-25T20:49:27.134Z,1750884567.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:27.135Z,1750884567.135 [DAT](INFO): direction in FSK: [0.969238,-0.077983,-0.233445]
2025-06-25T20:49:27.135Z,1750884567.135 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:27.135Z,1750884567.135 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:27.138Z,1750884567.138 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:27.138Z,1750884567.138 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:27.454Z,1750884567.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.000000 m,
      deltaT: 3.780116 s,
      deltaX: -2.500000 m,
      approachRate: -0.661355 m/s,
      rangeRepo size: 4

2025-06-25T20:49:27.456Z,1750884567.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.096008 m,
      bearing: 239.031562 deg,
      lat: 36.906254 deg,
      lon: -122.116360 deg,
      deltaT: 3.780116 s,
      deltaX: -2.476593 m,
      approachRate: -0.655163 m/s,
      posRepo size: 4

2025-06-25T20:49:27.457Z,1750884567.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:27.459Z,1750884567.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 92.614082 m,
      bearing: 239.927354 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005840 deg/s,
      cmd heading: 242.300414 deg,
      new cmd heading: 242.293653 deg.

2025-06-25T20:49:27.460Z,1750884567.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228822 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:27.876Z,1750884567.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:27.878Z,1750884567.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 92.328247 m,
      bearing: 239.926854 deg,
      approach rate: -0.676453 m/s,
      LOS rate: -0.001188 deg/s,
      cmd heading: 242.293666 deg,
      new cmd heading: 242.292161 deg.

2025-06-25T20:49:27.879Z,1750884567.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228796 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:28.261Z,1750884568.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:28.263Z,1750884568.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:28.266Z,1750884568.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 92.074875 m,
      bearing: 239.926236 deg,
      approach rate: -0.653727 m/s,
      LOS rate: -0.001599 deg/s,
      cmd heading: 242.292164 deg,
      new cmd heading: 242.290304 deg.

2025-06-25T20:49:28.267Z,1750884568.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228764 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:28.378Z,1750884568.378 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:28.378Z,1750884568.378 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:28.378Z,1750884568.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:28.629Z,1750884568.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497950
2025-06-25T20:49:28.678Z,1750884568.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:28.701Z,1750884568.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 91.788124 m,
      bearing: 239.925456 deg,
      approach rate: -0.691361 m/s,
      LOS rate: -0.001886 deg/s,
      cmd heading: 242.290306 deg,
      new cmd heading: 242.287959 deg.

2025-06-25T20:49:28.708Z,1750884568.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228723 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:28.881Z,1750884568.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749430
2025-06-25T20:49:29.100Z,1750884569.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:29.103Z,1750884569.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 91.505325 m,
      bearing: 239.924724 deg,
      approach rate: -0.670042 m/s,
      LOS rate: -0.001740 deg/s,
      cmd heading: 242.287956 deg,
      new cmd heading: 242.285754 deg.

2025-06-25T20:49:29.104Z,1750884569.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228684 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:29.141Z,1750884569.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009758
2025-06-25T20:49:29.393Z,1750884569.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261425
2025-06-25T20:49:29.484Z,1750884569.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:29.494Z,1750884569.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 91.258972 m,
      bearing: 239.923722 deg,
      approach rate: -0.670206 m/s,
      LOS rate: -0.002735 deg/s,
      cmd heading: 242.285743 deg,
      new cmd heading: 242.282727 deg.

2025-06-25T20:49:29.500Z,1750884569.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228631 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:29.646Z,1750884569.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514327
2025-06-25T20:49:29.897Z,1750884569.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765414
2025-06-25T20:49:30.007Z,1750884570.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:30.010Z,1750884570.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 90.895607 m,
      bearing: 239.923929 deg,
      approach rate: -0.673672 m/s,
      LOS rate: 0.000386 deg/s,
      cmd heading: 242.282738 deg,
      new cmd heading: 242.283362 deg.

2025-06-25T20:49:30.011Z,1750884570.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228642 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:30.149Z,1750884570.149 [DAT](INFO): DAT read: Rx Time:20:49:30.8168

2025-06-25T20:49:30.150Z,1750884570.150 [DAT](INFO): Rx dataTimestamp_ set to:1750884570.149258
2025-06-25T20:49:30.150Z,1750884570.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018763
2025-06-25T20:49:30.377Z,1750884570.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:30.379Z,1750884570.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-06-25T20:49:30.382Z,1750884570.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.096008 m,
      nav range: 90.657516 m,
      bearing: 239.924029 deg,
      approach rate: -0.639308 m/s,
      LOS rate: 0.000269 deg/s,
      cmd heading: 242.283366 deg,
      new cmd heading: 242.283667 deg.

2025-06-25T20:49:30.383Z,1750884570.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228648 target range: 94.096008 and range: 95.00 m.
2025-06-25T20:49:30.401Z,1750884570.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269520
2025-06-25T20:49:30.661Z,1750884570.661 [DAT](INFO): DAT read: 20:49:30.8168 LVL= 20608, 30865, 17330, 32483, AGC= 69, IDX= 413,-0.19, 2.476, 1.158, 2.499, 1.999, PHS= 0.565,-0.794, 0.497, RAW= 147.5,  -4.1, CAL= 152.2, -12.9, ROT= 357.8,  12.9

2025-06-25T20:49:30.663Z,1750884570.663 [DAT](INFO): got valid direction response:
 20:49:30.8168 LVL= 20608, 30865, 17330, 32483, AGC= 69, IDX= 413,-0.19, 2.476, 1.158, 2.499, 1.999, PHS= 0.565,-0.794, 0.497, RAW= 147.5,  -4.1, CAL= 152.2, -12.9, ROT= 357.8,  12.9

2025-06-25T20:49:30.664Z,1750884570.664 [DAT](INFO): DAT read: Bearing 357.8,  12.9 (Local)

2025-06-25T20:49:30.665Z,1750884570.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  12.9 (Local)

2025-06-25T20:49:30.666Z,1750884570.666 [DAT](INFO): DAT read: Range 10 to 50 : 92.6 m  (Round-trip  123.5 ms) speed  0.6 m/s

2025-06-25T20:49:30.667Z,1750884570.667 [DAT](INFO): DAT read: user:712>

2025-06-25T20:49:30.688Z,1750884570.688 [DAT](INFO): DAT read: Tx time:20:49:31.9392

2025-06-25T20:49:30.689Z,1750884570.689 [DAT](INFO): Ping request sent.
2025-06-25T20:49:30.690Z,1750884570.690 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:30.696Z,1750884570.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:30.698Z,1750884570.698 [DAT](INFO): direction in FSK: [0.974043,-0.037419,-0.223250]
2025-06-25T20:49:30.698Z,1750884570.698 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:30.698Z,1750884570.698 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:30.706Z,1750884570.706 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:30.707Z,1750884570.707 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:30.905Z,1750884570.905 [DAT](INFO): DAT read: TxSync time:20:49:31.9384

2025-06-25T20:49:30.925Z,1750884570.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.599998 m,
      deltaT: 3.536342 s,
      deltaX: -2.400002 m,
      approachRate: -0.678668 m/s,
      rangeRepo size: 4

2025-06-25T20:49:30.927Z,1750884570.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.718819 m,
      bearing: 241.465042 deg,
      lat: 36.906258 deg,
      lon: -122.116361 deg,
      deltaT: 3.536342 s,
      deltaX: -2.377190 m,
      approachRate: -0.672217 m/s,
      posRepo size: 4

2025-06-25T20:49:30.927Z,1750884570.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:30.934Z,1750884570.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 90.196175 m,
      bearing: 240.173515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000269 deg/s,
      cmd heading: 242.283667 deg,
      new cmd heading: 242.284102 deg.

2025-06-25T20:49:30.935Z,1750884570.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228655 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:31.234Z,1750884571.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:31.237Z,1750884571.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 89.971611 m,
      bearing: 240.174029 deg,
      approach rate: -0.714609 m/s,
      LOS rate: 0.001639 deg/s,
      cmd heading: 242.284104 deg,
      new cmd heading: 242.285649 deg.

2025-06-25T20:49:31.238Z,1750884571.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228683 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:31.630Z,1750884571.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:31.634Z,1750884571.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 89.701797 m,
      bearing: 240.174697 deg,
      approach rate: -0.682128 m/s,
      LOS rate: 0.001695 deg/s,
      cmd heading: 242.285661 deg,
      new cmd heading: 242.287673 deg.

2025-06-25T20:49:31.635Z,1750884571.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228718 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:32.073Z,1750884572.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:32.080Z,1750884572.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 89.408058 m,
      bearing: 240.178013 deg,
      approach rate: -0.662352 m/s,
      LOS rate: 0.007501 deg/s,
      cmd heading: 242.287683 deg,
      new cmd heading: 242.297662 deg.

2025-06-25T20:49:32.081Z,1750884572.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228892 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:32.443Z,1750884572.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:32.445Z,1750884572.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:32.448Z,1750884572.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 89.137489 m,
      bearing: 240.181161 deg,
      approach rate: -0.727445 m/s,
      LOS rate: 0.008489 deg/s,
      cmd heading: 242.297655 deg,
      new cmd heading: 242.307127 deg.

2025-06-25T20:49:32.449Z,1750884572.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229057 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:32.669Z,1750884572.669 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:32.669Z,1750884572.669 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:32.669Z,1750884572.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:32.893Z,1750884572.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:32.901Z,1750884572.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 88.841942 m,
      bearing: 240.183977 deg,
      approach rate: -0.667004 m/s,
      LOS rate: 0.006377 deg/s,
      cmd heading: 242.307135 deg,
      new cmd heading: 242.315612 deg.

2025-06-25T20:49:32.902Z,1750884572.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229205 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:32.921Z,1750884572.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231692
2025-06-25T20:49:33.173Z,1750884573.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483426
2025-06-25T20:49:33.250Z,1750884573.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:33.253Z,1750884573.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 88.566368 m,
      bearing: 240.186555 deg,
      approach rate: -0.761232 m/s,
      LOS rate: 0.007142 deg/s,
      cmd heading: 242.315605 deg,
      new cmd heading: 242.323362 deg.

2025-06-25T20:49:33.254Z,1750884573.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229341 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:33.425Z,1750884573.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735552
2025-06-25T20:49:33.677Z,1750884573.677 [DAT](INFO): DAT read: Rx Time:20:49:34.4634

2025-06-25T20:49:33.677Z,1750884573.677 [DAT](INFO): Rx dataTimestamp_ set to:1750884573.677084
2025-06-25T20:49:33.678Z,1750884573.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988578
2025-06-25T20:49:33.679Z,1750884573.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:33.698Z,1750884573.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 88.280144 m,
      bearing: 240.189139 deg,
      approach rate: -0.678078 m/s,
      LOS rate: 0.006144 deg/s,
      cmd heading: 242.323364 deg,
      new cmd heading: 242.331144 deg.

2025-06-25T20:49:33.699Z,1750884573.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229476 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:33.929Z,1750884573.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239548
2025-06-25T20:49:34.075Z,1750884574.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.72 m.
2025-06-25T20:49:34.078Z,1750884574.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.718819 m,
      nav range: 87.978889 m,
      bearing: 240.190992 deg,
      approach rate: -0.746842 m/s,
      LOS rate: 0.004610 deg/s,
      cmd heading: 242.331150 deg,
      new cmd heading: 242.336728 deg.

2025-06-25T20:49:34.079Z,1750884574.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229574 target range: 91.718819 and range: 92.60 m.
2025-06-25T20:49:34.196Z,1750884574.196 [DAT](INFO): DAT read: 20:49:34.4634 LVL= 21328, 27969, 19218, 28595, AGC= 68, IDX= 409, 0.49, 1.048,-0.413, 1.123, 0.577, PHS= 0.559,-0.943, 0.543, RAW= 149.5,  -2.2, CAL= 153.4, -11.0, ROT= 356.6,  11.0

2025-06-25T20:49:34.197Z,1750884574.197 [DAT](INFO): got valid direction response:
 20:49:34.4634 LVL= 21328, 27969, 19218, 28595, AGC= 68, IDX= 409, 0.49, 1.048,-0.413, 1.123, 0.577, PHS= 0.559,-0.943, 0.543, RAW= 149.5,  -2.2, CAL= 153.4, -11.0, ROT= 356.6,  11.0

2025-06-25T20:49:34.198Z,1750884574.198 [DAT](INFO): DAT read: Bearing 356.6,  11.0 (Local)

2025-06-25T20:49:34.198Z,1750884574.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  11.0 (Local)

2025-06-25T20:49:34.200Z,1750884574.200 [DAT](INFO): DAT read: Range 10 to 50 : 90.0 m  (Round-trip  120.1 ms) speed  0.8 m/s

2025-06-25T20:49:34.202Z,1750884574.202 [DAT](INFO): DAT read: user:713>

2025-06-25T20:49:34.205Z,1750884574.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:34.206Z,1750884574.206 [DAT](INFO): direction in FSK: [0.979899,-0.058217,-0.190809]
2025-06-25T20:49:34.206Z,1750884574.206 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:34.210Z,1750884574.210 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:34.210Z,1750884574.210 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:34.210Z,1750884574.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:34.433Z,1750884574.433 [DAT](INFO): DAT read: Tx time:20:49:35.5892

2025-06-25T20:49:34.433Z,1750884574.433 [DAT](INFO): Ping request sent.
2025-06-25T20:49:34.433Z,1750884574.433 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:34.434Z,1750884574.434 [DAT](INFO): DAT read: TxSync time:20:49:35.5884

2025-06-25T20:49:34.434Z,1750884574.434 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:34.435Z,1750884574.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001573
2025-06-25T20:49:34.469Z,1750884574.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.000000 m,
      deltaT: 3.529068 s,
      deltaX: -2.599998 m,
      approachRate: -0.736738 m/s,
      rangeRepo size: 4

2025-06-25T20:49:34.471Z,1750884574.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.143456 m,
      bearing: 239.889320 deg,
      lat: 36.906258 deg,
      lon: -122.116362 deg,
      deltaT: 3.529068 s,
      deltaX: -2.575363 m,
      approachRate: -0.729757 m/s,
      posRepo size: 4

2025-06-25T20:49:34.471Z,1750884574.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:34.474Z,1750884574.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 87.763138 m,
      bearing: 240.215872 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004610 deg/s,
      cmd heading: 242.336724 deg,
      new cmd heading: 242.342147 deg.

2025-06-25T20:49:34.475Z,1750884574.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229669 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:34.561Z,1750884574.561 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:49:34.685Z,1750884574.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251311
2025-06-25T20:49:34.889Z,1750884574.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:34.891Z,1750884574.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:34.910Z,1750884574.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 87.457596 m,
      bearing: 240.218654 deg,
      approach rate: -0.721842 m/s,
      LOS rate: 0.006595 deg/s,
      cmd heading: 242.342161 deg,
      new cmd heading: 242.350535 deg.

2025-06-25T20:49:34.911Z,1750884574.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229815 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:34.937Z,1750884574.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503497
2025-06-25T20:49:35.189Z,1750884575.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755336
2025-06-25T20:49:35.295Z,1750884575.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:35.302Z,1750884575.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 87.173332 m,
      bearing: 240.221622 deg,
      approach rate: -0.703090 m/s,
      LOS rate: 0.007367 deg/s,
      cmd heading: 242.350548 deg,
      new cmd heading: 242.359484 deg.

2025-06-25T20:49:35.303Z,1750884575.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229971 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:35.441Z,1750884575.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007474
2025-06-25T20:49:35.565Z,1750884575.565 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:49:35.679Z,1750884575.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:35.682Z,1750884575.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 86.893280 m,
      bearing: 240.224782 deg,
      approach rate: -0.729489 m/s,
      LOS rate: 0.008257 deg/s,
      cmd heading: 242.359482 deg,
      new cmd heading: 242.368992 deg.

2025-06-25T20:49:35.683Z,1750884575.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230137 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:35.693Z,1750884575.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259515
2025-06-25T20:49:35.945Z,1750884575.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511340
2025-06-25T20:49:36.092Z,1750884576.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:36.095Z,1750884576.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 86.598412 m,
      bearing: 240.227699 deg,
      approach rate: -0.713497 m/s,
      LOS rate: 0.007080 deg/s,
      cmd heading: 242.368989 deg,
      new cmd heading: 242.377768 deg.

2025-06-25T20:49:36.096Z,1750884576.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230290 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:36.198Z,1750884576.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764178
2025-06-25T20:49:36.449Z,1750884576.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015433
2025-06-25T20:49:36.478Z,1750884576.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:36.481Z,1750884576.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 86.322487 m,
      bearing: 240.230213 deg,
      approach rate: -0.715866 m/s,
      LOS rate: 0.006544 deg/s,
      cmd heading: 242.377759 deg,
      new cmd heading: 242.385326 deg.

2025-06-25T20:49:36.482Z,1750884576.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230422 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:36.701Z,1750884576.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267402
2025-06-25T20:49:36.919Z,1750884576.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:36.922Z,1750884576.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:36.925Z,1750884576.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 86.012131 m,
      bearing: 240.237673 deg,
      approach rate: -0.698783 m/s,
      LOS rate: 0.016857 deg/s,
      cmd heading: 242.385327 deg,
      new cmd heading: 242.407788 deg.

2025-06-25T20:49:36.926Z,1750884576.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230814 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:36.953Z,1750884576.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519445
2025-06-25T20:49:37.205Z,1750884577.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771413
2025-06-25T20:49:37.299Z,1750884577.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:37.302Z,1750884577.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 85.746742 m,
      bearing: 240.243919 deg,
      approach rate: -0.703135 m/s,
      LOS rate: 0.016600 deg/s,
      cmd heading: 242.407785 deg,
      new cmd heading: 242.426581 deg.

2025-06-25T20:49:37.303Z,1750884577.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231142 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:37.457Z,1750884577.457 [DAT](INFO): DAT read: Rx Time:20:49:38.1097

2025-06-25T20:49:37.457Z,1750884577.457 [DAT](INFO): Rx dataTimestamp_ set to:1750884577.456992
2025-06-25T20:49:37.458Z,1750884577.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024428
2025-06-25T20:49:37.709Z,1750884577.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275515
2025-06-25T20:49:37.738Z,1750884577.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.14 m.
2025-06-25T20:49:37.745Z,1750884577.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.143456 m,
      nav range: 85.454994 m,
      bearing: 240.250700 deg,
      approach rate: -0.665595 m/s,
      LOS rate: 0.015523 deg/s,
      cmd heading: 242.426582 deg,
      new cmd heading: 242.446994 deg.

2025-06-25T20:49:37.746Z,1750884577.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231498 target range: 89.143456 and range: 90.00 m.
2025-06-25T20:49:37.969Z,1750884577.969 [DAT](INFO): DAT read: 20:49:38.1097 LVL= 26352, 26657, 22370, 32755, AGC= 69, IDX= 404,-0.23,-0.088,-1.513,-0.037,-0.547, PHS= 0.547,-0.920, 0.506, RAW= 148.6,  -1.9, CAL= 152.6, -10.7, ROT= 357.4,  10.7

2025-06-25T20:49:37.970Z,1750884577.970 [DAT](INFO): got valid direction response:
 20:49:38.1097 LVL= 26352, 26657, 22370, 32755, AGC= 69, IDX= 404,-0.23,-0.088,-1.513,-0.037,-0.547, PHS= 0.547,-0.920, 0.506, RAW= 148.6,  -1.9, CAL= 152.6, -10.7, ROT= 357.4,  10.7

2025-06-25T20:49:37.971Z,1750884577.971 [DAT](INFO): DAT read: Bearing 357.4,  10.7 (Local)

2025-06-25T20:49:37.971Z,1750884577.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  10.7 (Local)

2025-06-25T20:49:37.973Z,1750884577.973 [DAT](INFO): DAT read: Range 10 to 50 : 87.3 m  (Round-trip  116.4 ms) speed  0.5 m/s

2025-06-25T20:49:37.973Z,1750884577.973 [DAT](INFO): DAT read: user:714>

2025-06-25T20:49:37.974Z,1750884577.974 [DAT](INFO): DAT read: Tx time:20:49:39.1892

2025-06-25T20:49:37.974Z,1750884577.974 [DAT](INFO): Ping request sent.
2025-06-25T20:49:37.975Z,1750884577.975 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:37.975Z,1750884577.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:37.979Z,1750884577.979 [DAT](INFO): direction in FSK: [0.981601,-0.044574,-0.185667]
2025-06-25T20:49:37.979Z,1750884577.979 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:38.006Z,1750884578.006 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:38.009Z,1750884578.009 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:38.010Z,1750884578.010 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:38.162Z,1750884578.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.300003 m,
      deltaT: 3.778572 s,
      deltaX: -2.699997 m,
      approachRate: -0.714555 m/s,
      rangeRepo size: 4

2025-06-25T20:49:38.169Z,1750884578.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.469231 m,
      bearing: 240.642420 deg,
      lat: 36.906261 deg,
      lon: -122.116368 deg,
      deltaT: 3.778572 s,
      deltaX: -2.674225 m,
      approachRate: -0.707734 m/s,
      posRepo size: 4

2025-06-25T20:49:38.170Z,1750884578.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:38.176Z,1750884578.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 85.399063 m,
      bearing: 240.642733 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015523 deg/s,
      cmd heading: 242.446990 deg,
      new cmd heading: 242.466739 deg.

2025-06-25T20:49:38.177Z,1750884578.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231843 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:38.216Z,1750884578.216 [DAT](INFO): DAT read: TxSync time:20:49:39.1884

2025-06-25T20:49:38.529Z,1750884578.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:38.534Z,1750884578.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 85.157791 m,
      bearing: 240.645742 deg,
      approach rate: -0.666214 m/s,
      LOS rate: 0.008333 deg/s,
      cmd heading: 242.466743 deg,
      new cmd heading: 242.475797 deg.

2025-06-25T20:49:38.537Z,1750884578.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232001 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:38.949Z,1750884578.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:38.951Z,1750884578.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:38.954Z,1750884578.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 84.853088 m,
      bearing: 240.649073 deg,
      approach rate: -0.713621 m/s,
      LOS rate: 0.007828 deg/s,
      cmd heading: 242.475786 deg,
      new cmd heading: 242.485814 deg.

2025-06-25T20:49:38.955Z,1750884578.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232176 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:38.968Z,1750884578.968 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:38.969Z,1750884578.969 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:38.969Z,1750884578.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:39.223Z,1750884579.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248744
2025-06-25T20:49:39.311Z,1750884579.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:39.314Z,1750884579.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 84.610619 m,
      bearing: 240.651775 deg,
      approach rate: -0.673954 m/s,
      LOS rate: 0.007531 deg/s,
      cmd heading: 242.485813 deg,
      new cmd heading: 242.493941 deg.

2025-06-25T20:49:39.315Z,1750884579.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232318 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:39.477Z,1750884579.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502273
2025-06-25T20:49:39.724Z,1750884579.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:39.727Z,1750884579.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 84.332222 m,
      bearing: 240.654761 deg,
      approach rate: -0.673505 m/s,
      LOS rate: 0.007248 deg/s,
      cmd heading: 242.493955 deg,
      new cmd heading: 242.502942 deg.

2025-06-25T20:49:39.729Z,1750884579.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754376
2025-06-25T20:49:39.730Z,1750884579.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232475 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:39.981Z,1750884579.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006198
2025-06-25T20:49:40.158Z,1750884580.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:40.165Z,1750884580.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 84.060478 m,
      bearing: 240.655426 deg,
      approach rate: -0.626497 m/s,
      LOS rate: 0.001539 deg/s,
      cmd heading: 242.502943 deg,
      new cmd heading: 242.504946 deg.

2025-06-25T20:49:40.166Z,1750884580.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232510 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:40.233Z,1750884580.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258261
2025-06-25T20:49:40.485Z,1750884580.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510136
2025-06-25T20:49:40.545Z,1750884580.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:40.547Z,1750884580.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 83.808884 m,
      bearing: 240.655845 deg,
      approach rate: -0.650534 m/s,
      LOS rate: 0.001087 deg/s,
      cmd heading: 242.504938 deg,
      new cmd heading: 242.506198 deg.

2025-06-25T20:49:40.548Z,1750884580.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232532 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:40.737Z,1750884580.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762201
2025-06-25T20:49:40.987Z,1750884580.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:40.989Z,1750884580.989 [DAT](INFO): DAT read: Rx Time:20:49:41.7068

2025-06-25T20:49:40.989Z,1750884580.989 [DAT](INFO): Rx dataTimestamp_ set to:1750884580.989178
2025-06-25T20:49:40.990Z,1750884580.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015411
2025-06-25T20:49:40.992Z,1750884580.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:40.995Z,1750884580.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 83.505058 m,
      bearing: 240.651986 deg,
      approach rate: -0.679091 m/s,
      LOS rate: -0.008656 deg/s,
      cmd heading: 242.506194 deg,
      new cmd heading: 242.494576 deg.

2025-06-25T20:49:40.997Z,1750884580.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232329 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:41.241Z,1750884581.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266184
2025-06-25T20:49:41.339Z,1750884581.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.47 m.
2025-06-25T20:49:41.343Z,1750884581.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.469231 m,
      nav range: 83.277596 m,
      bearing: 240.648923 deg,
      approach rate: -0.654612 m/s,
      LOS rate: -0.008840 deg/s,
      cmd heading: 242.494583 deg,
      new cmd heading: 242.485368 deg.

2025-06-25T20:49:41.344Z,1750884581.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232168 target range: 86.469231 and range: 87.30 m.
2025-06-25T20:49:41.499Z,1750884581.499 [DAT](INFO): DAT read: 20:49:41.7068 LVL= 28240, 25697, 25330, 32755, AGC= 70, IDX= 405,-0.16, 1.372,-0.069, 1.461, 0.966, PHS= 0.495,-0.987, 0.492, RAW= 149.9,   0.0, CAL= 153.2,  -8.9, ROT= 356.8,   8.9

2025-06-25T20:49:41.500Z,1750884581.500 [DAT](INFO): got valid direction response:
 20:49:41.7068 LVL= 28240, 25697, 25330, 32755, AGC= 70, IDX= 405,-0.16, 1.372,-0.069, 1.461, 0.966, PHS= 0.495,-0.987, 0.492, RAW= 149.9,   0.0, CAL= 153.2,  -8.9, ROT= 356.8,   8.9

2025-06-25T20:49:41.501Z,1750884581.501 [DAT](INFO): DAT read: Bearing 356.8,   8.9 (Local)

2025-06-25T20:49:41.501Z,1750884581.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,   8.9 (Local)

2025-06-25T20:49:41.503Z,1750884581.503 [DAT](INFO): DAT read: Range 10 to 50 : 84.9 m  (Round-trip  113.3 ms) speed  0.5 m/s

2025-06-25T20:49:41.504Z,1750884581.504 [DAT](INFO): DAT read: user:715>

2025-06-25T20:49:41.505Z,1750884581.505 [DAT](INFO): DAT read: Tx time:20:49:42.7893

2025-06-25T20:49:41.505Z,1750884581.505 [DAT](INFO): Ping request sent.
2025-06-25T20:49:41.505Z,1750884581.505 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:41.505Z,1750884581.505 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:41.506Z,1750884581.506 [DAT](INFO): direction in FSK: [0.986419,-0.055150,-0.154710]
2025-06-25T20:49:41.507Z,1750884581.507 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:41.507Z,1750884581.507 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:41.510Z,1750884581.510 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:41.510Z,1750884581.510 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:41.745Z,1750884581.745 [DAT](INFO): DAT read: TxSync time:20:49:42.7885

2025-06-25T20:49:41.784Z,1750884581.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.900002 m,
      deltaT: 3.531940 s,
      deltaX: -2.400002 m,
      approachRate: -0.679514 m/s,
      rangeRepo size: 4

2025-06-25T20:49:41.786Z,1750884581.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.092072 m,
      bearing: 240.150765 deg,
      lat: 36.906255 deg,
      lon: -122.116366 deg,
      deltaT: 3.531940 s,
      deltaX: -2.377159 m,
      approachRate: -0.673046 m/s,
      posRepo size: 4

2025-06-25T20:49:41.787Z,1750884581.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:41.798Z,1750884581.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 83.267853 m,
      bearing: 240.151069 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008840 deg/s,
      cmd heading: 242.485376 deg,
      new cmd heading: 242.473608 deg.

2025-06-25T20:49:41.799Z,1750884581.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231963 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:42.163Z,1750884582.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:42.166Z,1750884582.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 83.017059 m,
      bearing: 240.146651 deg,
      approach rate: -0.659618 m/s,
      LOS rate: -0.011655 deg/s,
      cmd heading: 242.473601 deg,
      new cmd heading: 242.460306 deg.

2025-06-25T20:49:42.167Z,1750884582.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231730 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:42.542Z,1750884582.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:42.545Z,1750884582.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 82.771645 m,
      bearing: 240.142475 deg,
      approach rate: -0.647801 m/s,
      LOS rate: -0.011055 deg/s,
      cmd heading: 242.460295 deg,
      new cmd heading: 242.447731 deg.

2025-06-25T20:49:42.546Z,1750884582.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231511 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:43.006Z,1750884583.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:43.008Z,1750884583.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:43.011Z,1750884583.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 82.469887 m,
      bearing: 240.138469 deg,
      approach rate: -0.647988 m/s,
      LOS rate: -0.008633 deg/s,
      cmd heading: 242.447728 deg,
      new cmd heading: 242.435668 deg.

2025-06-25T20:49:43.016Z,1750884583.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231301 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:43.257Z,1750884583.257 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:43.257Z,1750884583.257 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:43.257Z,1750884583.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:43.377Z,1750884583.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:43.380Z,1750884583.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 82.228867 m,
      bearing: 240.135249 deg,
      approach rate: -0.652888 m/s,
      LOS rate: -0.008749 deg/s,
      cmd heading: 242.435679 deg,
      new cmd heading: 242.425990 deg.

2025-06-25T20:49:43.381Z,1750884583.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231132 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:43.509Z,1750884583.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003741
2025-06-25T20:49:43.758Z,1750884583.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:43.761Z,1750884583.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255820
2025-06-25T20:49:43.763Z,1750884583.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 81.981133 m,
      bearing: 240.131557 deg,
      approach rate: -0.649903 m/s,
      LOS rate: -0.009716 deg/s,
      cmd heading: 242.425981 deg,
      new cmd heading: 242.414870 deg.

2025-06-25T20:49:43.764Z,1750884583.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230937 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:44.013Z,1750884584.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507700
2025-06-25T20:49:44.210Z,1750884584.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:44.217Z,1750884584.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 81.688026 m,
      bearing: 240.127649 deg,
      approach rate: -0.649366 m/s,
      LOS rate: -0.008689 deg/s,
      cmd heading: 242.414861 deg,
      new cmd heading: 242.403095 deg.

2025-06-25T20:49:44.218Z,1750884584.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230732 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:44.266Z,1750884584.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760888
2025-06-25T20:49:44.517Z,1750884584.517 [DAT](INFO): DAT read: Rx Time:20:49:45.3037

2025-06-25T20:49:44.517Z,1750884584.517 [DAT](INFO): Rx dataTimestamp_ set to:1750884584.517019
2025-06-25T20:49:44.518Z,1750884584.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012780
2025-06-25T20:49:44.606Z,1750884584.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.09 m.
2025-06-25T20:49:44.609Z,1750884584.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.092072 m,
      nav range: 81.430122 m,
      bearing: 240.124187 deg,
      approach rate: -0.675262 m/s,
      LOS rate: -0.009093 deg/s,
      cmd heading: 242.403086 deg,
      new cmd heading: 242.392667 deg.

2025-06-25T20:49:44.610Z,1750884584.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230550 target range: 84.092072 and range: 84.90 m.
2025-06-25T20:49:44.769Z,1750884584.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263736
2025-06-25T20:49:45.044Z,1750884585.044 [DAT](INFO): DAT read: 20:49:45.3037 LVL= 22448, 28961, 18562, 32755, AGC= 69, IDX= 405,-0.01,-1.699,-3.112,-1.597,-2.099, PHS= 0.487,-0.966, 0.498, RAW= 150.4,  -0.3, CAL= 153.7,  -9.1, ROT= 356.3,   9.1

2025-06-25T20:49:45.045Z,1750884585.045 [DAT](INFO): got valid direction response:
 20:49:45.3037 LVL= 22448, 28961, 18562, 32755, AGC= 69, IDX= 405,-0.01,-1.699,-3.112,-1.597,-2.099, PHS= 0.487,-0.966, 0.498, RAW= 150.4,  -0.3, CAL= 153.7,  -9.1, ROT= 356.3,   9.1

2025-06-25T20:49:45.046Z,1750884585.046 [DAT](INFO): DAT read: Bearing 356.3,   9.1 (Local)

2025-06-25T20:49:45.047Z,1750884585.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,   9.1 (Local)

2025-06-25T20:49:45.048Z,1750884585.048 [DAT](INFO): DAT read: Range 10 to 50 : 82.6 m  (Round-trip  110.2 ms) speed  0.6 m/s

2025-06-25T20:49:45.049Z,1750884585.049 [DAT](INFO): DAT read: user:716>

2025-06-25T20:49:45.050Z,1750884585.050 [DAT](INFO): DAT read: Tx time:20:49:46.3893

2025-06-25T20:49:45.050Z,1750884585.050 [DAT](INFO): Ping request sent.
2025-06-25T20:49:45.050Z,1750884585.050 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:45.050Z,1750884585.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:45.051Z,1750884585.051 [DAT](INFO): direction in FSK: [0.985356,-0.063720,-0.158158]
2025-06-25T20:49:45.064Z,1750884585.064 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:45.064Z,1750884585.064 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:45.067Z,1750884585.067 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:45.067Z,1750884585.067 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:45.170Z,1750884585.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.599998 m,
      deltaT: 3.529711 s,
      deltaX: -2.300003 m,
      approachRate: -0.651612 m/s,
      rangeRepo size: 4

2025-06-25T20:49:45.176Z,1750884585.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.813828 m,
      bearing: 239.888028 deg,
      lat: 36.906255 deg,
      lon: -122.116366 deg,
      deltaT: 3.529711 s,
      deltaX: -2.278244 m,
      approachRate: -0.645448 m/s,
      posRepo size: 4

2025-06-25T20:49:45.177Z,1750884585.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:45.179Z,1750884585.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 81.063705 m,
      bearing: 240.118603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009093 deg/s,
      cmd heading: 242.392677 deg,
      new cmd heading: 242.376922 deg.

2025-06-25T20:49:45.185Z,1750884585.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230275 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:45.273Z,1750884585.273 [DAT](INFO): DAT read: TxSync time:20:49:46.3885

2025-06-25T20:49:45.540Z,1750884585.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:45.542Z,1750884585.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:45.549Z,1750884585.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 80.800644 m,
      bearing: 240.114563 deg,
      approach rate: -0.705454 m/s,
      LOS rate: -0.010869 deg/s,
      cmd heading: 242.376913 deg,
      new cmd heading: 242.364754 deg.

2025-06-25T20:49:45.550Z,1750884585.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230063 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:45.777Z,1750884585.777 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:45.777Z,1750884585.777 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:45.777Z,1750884585.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:45.885Z,1750884585.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:45.892Z,1750884585.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 80.569450 m,
      bearing: 240.111629 deg,
      approach rate: -0.674144 m/s,
      LOS rate: -0.008580 deg/s,
      cmd heading: 242.364755 deg,
      new cmd heading: 242.355927 deg.

2025-06-25T20:49:45.893Z,1750884585.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229909 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:46.029Z,1750884586.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979171
2025-06-25T20:49:46.281Z,1750884586.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230748
2025-06-25T20:49:46.295Z,1750884586.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:46.298Z,1750884586.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 80.280701 m,
      bearing: 240.109864 deg,
      approach rate: -0.703713 m/s,
      LOS rate: -0.004319 deg/s,
      cmd heading: 242.355930 deg,
      new cmd heading: 242.350614 deg.

2025-06-25T20:49:46.299Z,1750884586.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229816 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:46.533Z,1750884586.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482999
2025-06-25T20:49:46.687Z,1750884586.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:46.690Z,1750884586.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 80.013092 m,
      bearing: 240.108236 deg,
      approach rate: -0.682511 m/s,
      LOS rate: -0.004165 deg/s,
      cmd heading: 242.350603 deg,
      new cmd heading: 242.345703 deg.

2025-06-25T20:49:46.691Z,1750884586.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229731 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:46.785Z,1750884586.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734743
2025-06-25T20:49:47.037Z,1750884587.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986654
2025-06-25T20:49:47.114Z,1750884587.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:47.117Z,1750884587.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 79.720558 m,
      bearing: 240.106787 deg,
      approach rate: -0.685179 m/s,
      LOS rate: -0.003406 deg/s,
      cmd heading: 242.345712 deg,
      new cmd heading: 242.341350 deg.

2025-06-25T20:49:47.118Z,1750884587.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229654 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:47.293Z,1750884587.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242047
2025-06-25T20:49:47.497Z,1750884587.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:47.504Z,1750884587.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 79.469032 m,
      bearing: 240.105565 deg,
      approach rate: -0.656846 m/s,
      LOS rate: -0.003203 deg/s,
      cmd heading: 242.341341 deg,
      new cmd heading: 242.337662 deg.

2025-06-25T20:49:47.505Z,1750884587.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229590 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:47.542Z,1750884587.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491539
2025-06-25T20:49:47.793Z,1750884587.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742652
2025-06-25T20:49:47.903Z,1750884587.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:47.905Z,1750884587.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:47.908Z,1750884587.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 79.178520 m,
      bearing: 240.104143 deg,
      approach rate: -0.711877 m/s,
      LOS rate: -0.003497 deg/s,
      cmd heading: 242.337653 deg,
      new cmd heading: 242.333372 deg.

2025-06-25T20:49:47.909Z,1750884587.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229515 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:48.045Z,1750884588.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994822
2025-06-25T20:49:48.297Z,1750884588.297 [DAT](INFO): DAT read: Rx Time:20:49:48.9002

2025-06-25T20:49:48.298Z,1750884588.298 [DAT](INFO): Rx dataTimestamp_ set to:1750884588.297510
2025-06-25T20:49:48.298Z,1750884588.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248194
2025-06-25T20:49:48.334Z,1750884588.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:48.341Z,1750884588.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 78.900444 m,
      bearing: 240.098957 deg,
      approach rate: -0.648582 m/s,
      LOS rate: -0.012137 deg/s,
      cmd heading: 242.333363 deg,
      new cmd heading: 242.317752 deg.

2025-06-25T20:49:48.342Z,1750884588.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229243 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:48.549Z,1750884588.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499230
2025-06-25T20:49:48.708Z,1750884588.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.81 m.
2025-06-25T20:49:48.711Z,1750884588.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.813828 m,
      nav range: 78.626953 m,
      bearing: 240.093867 deg,
      approach rate: -0.730796 m/s,
      LOS rate: -0.013649 deg/s,
      cmd heading: 242.317763 deg,
      new cmd heading: 242.302439 deg.

2025-06-25T20:49:48.712Z,1750884588.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228975 target range: 81.813828 and range: 82.60 m.
2025-06-25T20:49:48.813Z,1750884588.813 [DAT](INFO): DAT read: 20:49:48.9002 LVL= 29024, 32753, 23746, 32755, AGC= 66, IDX= 401, 0.36, 1.482, 0.109, 1.548, 1.088, PHS= 0.482,-0.931, 0.457, RAW= 149.1,  -0.1, CAL= 152.5,  -9.0, ROT= 357.5,   9.0

2025-06-25T20:49:48.815Z,1750884588.815 [DAT](INFO): got valid direction response:
 20:49:48.9002 LVL= 29024, 32753, 23746, 32755, AGC= 66, IDX= 401, 0.36, 1.482, 0.109, 1.548, 1.088, PHS= 0.482,-0.931, 0.457, RAW= 149.1,  -0.1, CAL= 152.5,  -9.0, ROT= 357.5,   9.0

2025-06-25T20:49:48.816Z,1750884588.816 [DAT](INFO): DAT read: Bearing 357.5,   9.0 (Local)

2025-06-25T20:49:48.817Z,1750884588.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,   9.0 (Local)

2025-06-25T20:49:48.819Z,1750884588.819 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m  (Round-trip  106.8 ms) speed  0.5 m/s

2025-06-25T20:49:48.825Z,1750884588.825 [DAT](INFO): DAT read: user:717>

2025-06-25T20:49:48.825Z,1750884588.825 [DAT](INFO): DAT read: Tx time:20:49:49.9893

2025-06-25T20:49:48.826Z,1750884588.826 [DAT](INFO): Ping request sent.
2025-06-25T20:49:48.826Z,1750884588.826 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:48.826Z,1750884588.826 [DAT](INFO): DAT read: TxSync time:20:49:49.9885

2025-06-25T20:49:48.827Z,1750884588.827 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:48.832Z,1750884588.832 [DAT](INFO): direction in FSK: [0.986748,-0.043082,-0.156434]
2025-06-25T20:49:48.832Z,1750884588.832 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:48.833Z,1750884588.833 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:48.840Z,1750884588.840 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:48.840Z,1750884588.840 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:49.151Z,1750884589.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.099998 m,
      deltaT: 3.780571 s,
      deltaX: -2.500000 m,
      approachRate: -0.661276 m/s,
      rangeRepo size: 4

2025-06-25T20:49:49.158Z,1750884589.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.337662 m,
      bearing: 240.750951 deg,
      lat: 36.906255 deg,
      lon: -122.116366 deg,
      deltaT: 3.780571 s,
      deltaX: -2.476166 m,
      approachRate: -0.654971 m/s,
      posRepo size: 4

2025-06-25T20:49:49.160Z,1750884589.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:49.163Z,1750884589.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 78.329742 m,
      bearing: 240.094426 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013649 deg/s,
      cmd heading: 242.302436 deg,
      new cmd heading: 242.284321 deg.

2025-06-25T20:49:49.164Z,1750884589.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228659 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:49.519Z,1750884589.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:49.522Z,1750884589.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 78.075287 m,
      bearing: 240.095103 deg,
      approach rate: -0.696776 m/s,
      LOS rate: 0.001860 deg/s,
      cmd heading: 242.284322 deg,
      new cmd heading: 242.286360 deg.

2025-06-25T20:49:49.523Z,1750884589.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228695 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:49.904Z,1750884589.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:49.907Z,1750884589.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 77.793983 m,
      bearing: 240.095578 deg,
      approach rate: -0.725364 m/s,
      LOS rate: 0.001230 deg/s,
      cmd heading: 242.286372 deg,
      new cmd heading: 242.287803 deg.

2025-06-25T20:49:49.908Z,1750884589.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228720 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:50.331Z,1750884590.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:50.334Z,1750884590.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:50.337Z,1750884590.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 77.502640 m,
      bearing: 240.096075 deg,
      approach rate: -0.677772 m/s,
      LOS rate: 0.001161 deg/s,
      cmd heading: 242.287792 deg,
      new cmd heading: 242.289290 deg.

2025-06-25T20:49:50.337Z,1750884590.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228746 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:50.569Z,1750884590.569 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:50.569Z,1750884590.569 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:50.569Z,1750884590.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:50.736Z,1750884590.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:50.739Z,1750884590.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 77.240067 m,
      bearing: 240.096274 deg,
      approach rate: -0.679471 m/s,
      LOS rate: 0.000515 deg/s,
      cmd heading: 242.289295 deg,
      new cmd heading: 242.289891 deg.

2025-06-25T20:49:50.744Z,1750884590.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228756 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:50.822Z,1750884590.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995642
2025-06-25T20:49:51.075Z,1750884591.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248474
2025-06-25T20:49:51.188Z,1750884591.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:51.191Z,1750884591.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 76.928360 m,
      bearing: 240.096963 deg,
      approach rate: -0.666208 m/s,
      LOS rate: 0.001480 deg/s,
      cmd heading: 242.289896 deg,
      new cmd heading: 242.291974 deg.

2025-06-25T20:49:51.192Z,1750884591.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228793 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:51.325Z,1750884591.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498920
2025-06-25T20:49:51.522Z,1750884591.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:51.525Z,1750884591.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 76.703918 m,
      bearing: 240.097151 deg,
      approach rate: -0.672395 m/s,
      LOS rate: 0.000563 deg/s,
      cmd heading: 242.291972 deg,
      new cmd heading: 242.292536 deg.

2025-06-25T20:49:51.526Z,1750884591.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228803 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:51.578Z,1750884591.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751729
2025-06-25T20:49:51.829Z,1750884591.829 [DAT](INFO): DAT read: Rx Time:20:49:52.4969

2025-06-25T20:49:51.829Z,1750884591.829 [DAT](INFO): Rx dataTimestamp_ set to:1750884591.829021
2025-06-25T20:49:51.830Z,1750884591.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004001
2025-06-25T20:49:51.947Z,1750884591.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.34 m.
2025-06-25T20:49:51.950Z,1750884591.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.337662 m,
      nav range: 76.432327 m,
      bearing: 240.097334 deg,
      approach rate: -0.643512 m/s,
      LOS rate: 0.000436 deg/s,
      cmd heading: 242.292546 deg,
      new cmd heading: 242.293098 deg.

2025-06-25T20:49:51.951Z,1750884591.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228812 target range: 79.337662 and range: 80.10 m.
2025-06-25T20:49:52.081Z,1750884592.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255403
2025-06-25T20:49:52.341Z,1750884592.341 [DAT](INFO): DAT read: 20:49:52.4969 LVL= 31200, 32753, 26706, 32755, AGC= 67, IDX= 400, 0.10, 0.497,-0.889, 0.604, 0.098, PHS= 0.487,-0.940, 0.502, RAW= 150.5,  -0.7, CAL= 153.9,  -9.6, ROT= 356.1,   9.6

2025-06-25T20:49:52.342Z,1750884592.342 [DAT](INFO): got valid direction response:
 20:49:52.4969 LVL= 31200, 32753, 26706, 32755, AGC= 67, IDX= 400, 0.10, 0.497,-0.889, 0.604, 0.098, PHS= 0.487,-0.940, 0.502, RAW= 150.5,  -0.7, CAL= 153.9,  -9.6, ROT= 356.1,   9.6

2025-06-25T20:49:52.343Z,1750884592.343 [DAT](INFO): DAT read: Bearing 356.1,   9.6 (Local)

2025-06-25T20:49:52.343Z,1750884592.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,   9.6 (Local)

2025-06-25T20:49:52.345Z,1750884592.345 [DAT](INFO): DAT read: Range 10 to 50 : 77.6 m  (Round-trip  103.5 ms) speed  0.5 m/s

2025-06-25T20:49:52.346Z,1750884592.346 [DAT](INFO): DAT read: user:718>

2025-06-25T20:49:52.346Z,1750884592.346 [DAT](INFO): DAT read: Tx time:20:49:53.5894

2025-06-25T20:49:52.347Z,1750884592.347 [DAT](INFO): Ping request sent.
2025-06-25T20:49:52.347Z,1750884592.347 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:52.347Z,1750884592.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:52.348Z,1750884592.348 [DAT](INFO): direction in FSK: [0.983713,-0.067063,-0.166769]
2025-06-25T20:49:52.348Z,1750884592.348 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:52.349Z,1750884592.349 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:52.352Z,1750884592.352 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:52.352Z,1750884592.352 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:52.416Z,1750884592.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.599998 m,
      deltaT: 3.531433 s,
      deltaX: -2.500000 m,
      approachRate: -0.707928 m/s,
      rangeRepo size: 4

2025-06-25T20:49:52.418Z,1750884592.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.861458 m,
      bearing: 239.756134 deg,
      lat: 36.906255 deg,
      lon: -122.116366 deg,
      deltaT: 3.531433 s,
      deltaX: -2.476204 m,
      approachRate: -0.701190 m/s,
      posRepo size: 4

2025-06-25T20:49:52.428Z,1750884592.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:52.430Z,1750884592.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 76.133301 m,
      bearing: 240.098581 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000436 deg/s,
      cmd heading: 242.293092 deg,
      new cmd heading: 242.293661 deg.

2025-06-25T20:49:52.431Z,1750884592.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228822 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:52.585Z,1750884592.585 [DAT](INFO): DAT read: TxSync time:20:49:53.5886

2025-06-25T20:49:52.746Z,1750884592.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:52.753Z,1750884592.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:52.755Z,1750884592.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 75.888153 m,
      bearing: 240.099541 deg,
      approach rate: -0.655603 m/s,
      LOS rate: 0.002575 deg/s,
      cmd heading: 242.293666 deg,
      new cmd heading: 242.296555 deg.

2025-06-25T20:49:52.761Z,1750884592.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228873 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:52.838Z,1750884592.838 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:52.838Z,1750884592.838 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:52.838Z,1750884592.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:53.091Z,1750884593.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744347
2025-06-25T20:49:53.181Z,1750884593.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:53.186Z,1750884593.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 75.597816 m,
      bearing: 240.101304 deg,
      approach rate: -0.678728 m/s,
      LOS rate: 0.004137 deg/s,
      cmd heading: 242.296562 deg,
      new cmd heading: 242.301871 deg.

2025-06-25T20:49:53.187Z,1750884593.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228965 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:53.341Z,1750884593.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994485
2025-06-25T20:49:53.561Z,1750884593.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:53.563Z,1750884593.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 75.350746 m,
      bearing: 240.102685 deg,
      approach rate: -0.649968 m/s,
      LOS rate: 0.003644 deg/s,
      cmd heading: 242.301862 deg,
      new cmd heading: 242.306018 deg.

2025-06-25T20:49:53.566Z,1750884593.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229038 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:53.593Z,1750884593.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246105
2025-06-25T20:49:53.845Z,1750884593.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498085
2025-06-25T20:49:53.952Z,1750884593.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:53.955Z,1750884593.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 75.078911 m,
      bearing: 240.104182 deg,
      approach rate: -0.694671 m/s,
      LOS rate: 0.003841 deg/s,
      cmd heading: 242.306015 deg,
      new cmd heading: 242.310525 deg.

2025-06-25T20:49:53.956Z,1750884593.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229116 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:54.099Z,1750884594.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752176
2025-06-25T20:49:54.349Z,1750884594.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002334
2025-06-25T20:49:54.377Z,1750884594.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:54.380Z,1750884594.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 74.791763 m,
      bearing: 240.104195 deg,
      approach rate: -0.675533 m/s,
      LOS rate: 0.000031 deg/s,
      cmd heading: 242.310523 deg,
      new cmd heading: 242.310562 deg.

2025-06-25T20:49:54.381Z,1750884594.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229117 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:54.601Z,1750884594.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254617
2025-06-25T20:49:54.766Z,1750884594.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:54.773Z,1750884594.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:54.775Z,1750884594.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 74.538734 m,
      bearing: 240.104070 deg,
      approach rate: -0.639640 m/s,
      LOS rate: -0.000317 deg/s,
      cmd heading: 242.310550 deg,
      new cmd heading: 242.310174 deg.

2025-06-25T20:49:54.780Z,1750884594.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229110 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:54.853Z,1750884594.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506631
2025-06-25T20:49:55.107Z,1750884595.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760029
2025-06-25T20:49:55.217Z,1750884595.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:55.219Z,1750884595.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 74.218849 m,
      bearing: 240.099030 deg,
      approach rate: -0.720165 m/s,
      LOS rate: -0.011397 deg/s,
      cmd heading: 242.310168 deg,
      new cmd heading: 242.294981 deg.

2025-06-25T20:49:55.221Z,1750884595.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228845 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:55.357Z,1750884595.357 [DAT](INFO): DAT read: Rx Time:20:49:56.0940

2025-06-25T20:49:55.357Z,1750884595.357 [DAT](INFO): Rx dataTimestamp_ set to:1750884595.357024
2025-06-25T20:49:55.358Z,1750884595.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011117
2025-06-25T20:49:55.565Z,1750884595.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.86 m.
2025-06-25T20:49:55.568Z,1750884595.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.861458 m,
      nav range: 73.979156 m,
      bearing: 240.095084 deg,
      approach rate: -0.688210 m/s,
      LOS rate: -0.011366 deg/s,
      cmd heading: 242.294978 deg,
      new cmd heading: 242.283102 deg.

2025-06-25T20:49:55.569Z,1750884595.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228638 target range: 76.861458 and range: 77.60 m.
2025-06-25T20:49:55.611Z,1750884595.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264717
2025-06-25T20:49:55.867Z,1750884595.867 [DAT](INFO): DAT read: 20:49:56.0940 LVL= 24736, 31521, 26738, 32755, AGC= 69, IDX= 417,-0.36,-1.589,-2.944,-1.493,-1.968, PHS= 0.466,-0.929, 0.472, RAW= 150.2,  -0.1, CAL= 153.4,  -9.0, ROT= 356.6,   9.0

2025-06-25T20:49:55.868Z,1750884595.868 [DAT](INFO): got valid direction response:
 20:49:56.0940 LVL= 24736, 31521, 26738, 32755, AGC= 69, IDX= 417,-0.36,-1.589,-2.944,-1.493,-1.968, PHS= 0.466,-0.929, 0.472, RAW= 150.2,  -0.1, CAL= 153.4,  -9.0, ROT= 356.6,   9.0

2025-06-25T20:49:55.869Z,1750884595.869 [DAT](INFO): DAT read: Bearing 356.6,   9.0 (Local)

2025-06-25T20:49:55.869Z,1750884595.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,   9.0 (Local)

2025-06-25T20:49:55.871Z,1750884595.871 [DAT](INFO): DAT read: Range 10 to 50 : 75.3 m  (Round-trip  100.4 ms) speed  0.8 m/s

2025-06-25T20:49:55.871Z,1750884595.871 [DAT](INFO): DAT read: user:719>

2025-06-25T20:49:55.872Z,1750884595.872 [DAT](INFO): DAT read: Tx time:20:49:57.1894

2025-06-25T20:49:55.873Z,1750884595.873 [DAT](INFO): Ping request sent.
2025-06-25T20:49:55.873Z,1750884595.873 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:55.873Z,1750884595.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:55.874Z,1750884595.874 [DAT](INFO): direction in FSK: [0.985950,-0.058576,-0.156434]
2025-06-25T20:49:55.874Z,1750884595.874 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:55.874Z,1750884595.874 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:55.878Z,1750884595.878 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:55.878Z,1750884595.878 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:56.043Z,1750884596.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.300003 m,
      deltaT: 3.526234 s,
      deltaX: -2.299995 m,
      approachRate: -0.652253 m/s,
      rangeRepo size: 4

2025-06-25T20:49:56.049Z,1750884596.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.583290 m,
      bearing: 240.072533 deg,
      lat: 36.906255 deg,
      lon: -122.116366 deg,
      deltaT: 3.526234 s,
      deltaX: -2.278168 m,
      approachRate: -0.646063 m/s,
      posRepo size: 4

2025-06-25T20:49:56.050Z,1750884596.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:56.058Z,1750884596.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 73.623047 m,
      bearing: 240.071166 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011366 deg/s,
      cmd heading: 242.283093 deg,
      new cmd heading: 242.266822 deg.

2025-06-25T20:49:56.059Z,1750884596.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228354 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:56.116Z,1750884596.116 [DAT](INFO): DAT read: TxSync time:20:49:57.1886

2025-06-25T20:49:56.415Z,1750884596.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:56.418Z,1750884596.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 73.348122 m,
      bearing: 240.068921 deg,
      approach rate: -0.737095 m/s,
      LOS rate: -0.006040 deg/s,
      cmd heading: 242.266810 deg,
      new cmd heading: 242.260052 deg.

2025-06-25T20:49:56.419Z,1750884596.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228236 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:56.792Z,1750884596.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:56.794Z,1750884596.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:56.797Z,1750884596.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 73.083755 m,
      bearing: 240.067177 deg,
      approach rate: -0.697762 m/s,
      LOS rate: -0.004621 deg/s,
      cmd heading: 242.260062 deg,
      new cmd heading: 242.254809 deg.

2025-06-25T20:49:56.798Z,1750884596.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228144 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:56.870Z,1750884596.870 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:49:56.870Z,1750884596.870 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:49:56.870Z,1750884596.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:49:57.123Z,1750884597.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250299
2025-06-25T20:49:57.229Z,1750884597.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:57.231Z,1750884597.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 72.774628 m,
      bearing: 240.062365 deg,
      approach rate: -0.711512 m/s,
      LOS rate: -0.011121 deg/s,
      cmd heading: 242.254816 deg,
      new cmd heading: 242.240321 deg.

2025-06-25T20:49:57.232Z,1750884597.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227891 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:57.373Z,1750884597.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500568
2025-06-25T20:49:57.602Z,1750884597.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:57.605Z,1750884597.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 72.509186 m,
      bearing: 240.058117 deg,
      approach rate: -0.711240 m/s,
      LOS rate: -0.011425 deg/s,
      cmd heading: 242.240309 deg,
      new cmd heading: 242.227517 deg.

2025-06-25T20:49:57.606Z,1750884597.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227668 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:57.625Z,1750884597.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752213
2025-06-25T20:49:57.878Z,1750884597.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004978
2025-06-25T20:49:58.002Z,1750884598.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:58.005Z,1750884598.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 72.225243 m,
      bearing: 240.053316 deg,
      approach rate: -0.709901 m/s,
      LOS rate: -0.012050 deg/s,
      cmd heading: 242.227523 deg,
      new cmd heading: 242.213063 deg.

2025-06-25T20:49:58.006Z,1750884598.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227416 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:58.132Z,1750884598.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258885
2025-06-25T20:49:58.381Z,1750884598.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508254
2025-06-25T20:49:58.454Z,1750884598.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:58.457Z,1750884598.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 71.913963 m,
      bearing: 240.048660 deg,
      approach rate: -0.687884 m/s,
      LOS rate: -0.010334 deg/s,
      cmd heading: 242.213070 deg,
      new cmd heading: 242.199041 deg.

2025-06-25T20:49:58.458Z,1750884598.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227170 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:58.633Z,1750884598.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370
2025-06-25T20:49:58.806Z,1750884598.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:49:58.825Z,1750884598.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:58.829Z,1750884598.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 71.671333 m,
      bearing: 240.044896 deg,
      approach rate: -0.686155 m/s,
      LOS rate: -0.010680 deg/s,
      cmd heading: 242.199027 deg,
      new cmd heading: 242.187698 deg.

2025-06-25T20:49:58.831Z,1750884598.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226973 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:58.885Z,1750884598.885 [DAT](INFO): DAT read: Rx Time:20:49:59.6904

2025-06-25T20:49:58.885Z,1750884598.885 [DAT](INFO): Rx dataTimestamp_ set to:1750884598.885165
2025-06-25T20:49:58.886Z,1750884598.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013351
2025-06-25T20:49:59.139Z,1750884599.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266185
2025-06-25T20:49:59.254Z,1750884599.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:59.258Z,1750884599.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 71.360855 m,
      bearing: 240.039485 deg,
      approach rate: -0.695672 m/s,
      LOS rate: -0.012178 deg/s,
      cmd heading: 242.187689 deg,
      new cmd heading: 242.171384 deg.

2025-06-25T20:49:59.259Z,1750884599.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226688 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:59.392Z,1750884599.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518693
2025-06-25T20:49:59.638Z,1750884599.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.58 m.
2025-06-25T20:49:59.650Z,1750884599.650 [DAT](INFO): DAT read: 20:49:59.6904 LVL= 21344, 30353, 19394, 32755, AGC= 66, IDX= 411, 0.41, 3.092, 1.739,-3.111, 2.716, PHS= 0.464,-0.930, 0.453, RAW= 149.6,   0.2, CAL= 152.8,  -8.7, ROT= 357.2,   8.7

2025-06-25T20:49:59.652Z,1750884599.652 [DAT](INFO): got valid direction response:
 20:49:59.6904 LVL= 21344, 30353, 19394, 32755, AGC= 66, IDX= 411, 0.41, 3.092, 1.739,-3.111, 2.716, PHS= 0.464,-0.930, 0.453, RAW= 149.6,   0.2, CAL= 152.8,  -8.7, ROT= 357.2,   8.7

2025-06-25T20:49:59.653Z,1750884599.653 [DAT](INFO): DAT read: Bearing 357.2,   8.7 (Local)

2025-06-25T20:49:59.654Z,1750884599.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,   8.7 (Local)

2025-06-25T20:49:59.658Z,1750884599.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.583290 m,
      nav range: 71.106575 m,
      bearing: 240.035039 deg,
      approach rate: -0.663226 m/s,
      LOS rate: -0.011637 deg/s,
      cmd heading: 242.171378 deg,
      new cmd heading: 242.157994 deg.

2025-06-25T20:49:59.659Z,1750884599.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226454 target range: 74.583290 and range: 75.30 m.
2025-06-25T20:49:59.660Z,1750884599.660 [DAT](INFO): DAT read: Range 10 to 50 : 72.6 m  (Round-trip  96.8 ms) speed  0.8 m/s

2025-06-25T20:49:59.661Z,1750884599.661 [DAT](INFO): DAT read: user:720>

2025-06-25T20:49:59.662Z,1750884599.662 [DAT](INFO): DAT read: Tx time:20:50:00.7894

2025-06-25T20:49:59.663Z,1750884599.663 [DAT](INFO): Ping request sent.
2025-06-25T20:49:59.663Z,1750884599.663 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:49:59.696Z,1750884599.696 [DAT](INFO): DAT read: TxSync time:20:50:00.7886

2025-06-25T20:49:59.697Z,1750884599.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:49:59.698Z,1750884599.698 [DAT](INFO): direction in FSK: [0.987314,-0.048287,-0.151261]
2025-06-25T20:49:59.698Z,1750884599.698 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:59.698Z,1750884599.698 [DAT](INFO): publishing direction and range info
2025-06-25T20:49:59.710Z,1750884599.710 [DAT](INFO): publishing transmit ping time
2025-06-25T20:49:59.710Z,1750884599.710 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:00.024Z,1750884600.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.599998 m,
      deltaT: 3.780734 s,
      deltaX: -2.700005 m,
      approachRate: -0.714148 m/s,
      rangeRepo size: 4

2025-06-25T20:50:00.026Z,1750884600.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.909004 m,
      bearing: 240.260484 deg,
      lat: 36.906255 deg,
      lon: -122.116366 deg,
      deltaT: 3.780734 s,
      deltaX: -2.674286 m,
      approachRate: -0.707346 m/s,
      posRepo size: 4

2025-06-25T20:50:00.027Z,1750884600.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:00.030Z,1750884600.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 70.827736 m,
      bearing: 240.032193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011637 deg/s,
      cmd heading: 242.157991 deg,
      new cmd heading: 242.144520 deg.

2025-06-25T20:50:00.031Z,1750884600.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226219 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:00.449Z,1750884600.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:00.453Z,1750884600.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 70.540100 m,
      bearing: 240.023600 deg,
      approach rate: -0.675696 m/s,
      LOS rate: -0.020268 deg/s,
      cmd heading: 242.144522 deg,
      new cmd heading: 242.118638 deg.

2025-06-25T20:50:00.454Z,1750884600.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225768 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:00.827Z,1750884600.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:00.830Z,1750884600.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:00.833Z,1750884600.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 70.285599 m,
      bearing: 240.015956 deg,
      approach rate: -0.668776 m/s,
      LOS rate: -0.020159 deg/s,
      cmd heading: 242.118649 deg,
      new cmd heading: 242.095636 deg.

2025-06-25T20:50:00.834Z,1750884600.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225366 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:00.901Z,1750884600.901 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:00.901Z,1750884600.901 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:00.901Z,1750884600.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:01.153Z,1750884601.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489636
2025-06-25T20:50:01.310Z,1750884601.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:01.319Z,1750884601.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 69.983635 m,
      bearing: 240.014395 deg,
      approach rate: -0.628486 m/s,
      LOS rate: -0.003264 deg/s,
      cmd heading: 242.095645 deg,
      new cmd heading: 242.090941 deg.

2025-06-25T20:50:01.346Z,1750884601.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225284 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:01.405Z,1750884601.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741801
2025-06-25T20:50:01.645Z,1750884601.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:01.649Z,1750884601.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 69.753860 m,
      bearing: 240.012866 deg,
      approach rate: -0.686523 m/s,
      LOS rate: -0.004584 deg/s,
      cmd heading: 242.090946 deg,
      new cmd heading: 242.086343 deg.

2025-06-25T20:50:01.651Z,1750884601.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225204 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:01.657Z,1750884601.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994088
2025-06-25T20:50:01.909Z,1750884601.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246006
2025-06-25T20:50:02.060Z,1750884602.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:02.063Z,1750884602.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 69.489471 m,
      bearing: 240.010958 deg,
      approach rate: -0.662365 m/s,
      LOS rate: -0.004796 deg/s,
      cmd heading: 242.086356 deg,
      new cmd heading: 242.080613 deg.

2025-06-25T20:50:02.064Z,1750884602.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225104 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:02.164Z,1750884602.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500162
2025-06-25T20:50:02.413Z,1750884602.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749568
2025-06-25T20:50:02.477Z,1750884602.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:02.480Z,1750884602.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 69.211464 m,
      bearing: 240.012391 deg,
      approach rate: -0.641743 m/s,
      LOS rate: 0.003320 deg/s,
      cmd heading: 242.080619 deg,
      new cmd heading: 242.084934 deg.

2025-06-25T20:50:02.481Z,1750884602.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225179 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:02.666Z,1750884602.666 [DAT](INFO): DAT read: Rx Time:20:50:03.2872

2025-06-25T20:50:02.667Z,1750884602.667 [DAT](INFO): Rx dataTimestamp_ set to:1750884602.666632
2025-06-25T20:50:02.667Z,1750884602.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004356
2025-06-25T20:50:02.866Z,1750884602.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:02.868Z,1750884602.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.91 m.
2025-06-25T20:50:02.871Z,1750884602.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.909004 m,
      nav range: 68.960732 m,
      bearing: 240.013693 deg,
      approach rate: -0.641483 m/s,
      LOS rate: 0.003343 deg/s,
      cmd heading: 242.084936 deg,
      new cmd heading: 242.088856 deg.

2025-06-25T20:50:02.872Z,1750884602.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225247 target range: 71.909004 and range: 72.60 m.
2025-06-25T20:50:02.917Z,1750884602.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253878
2025-06-25T20:50:03.179Z,1750884603.179 [DAT](INFO): DAT read: 20:50:03.2872 LVL= 26224, 31729, 20946, 32755, AGC= 69, IDX= 410, 0.38, 0.133,-1.376, 0.212,-0.281, PHS= 0.502,-1.048, 0.491, RAW= 149.6,   0.7, CAL= 152.7,  -8.2, ROT= 357.3,   8.2

2025-06-25T20:50:03.180Z,1750884603.180 [DAT](INFO): got valid direction response:
 20:50:03.2872 LVL= 26224, 31729, 20946, 32755, AGC= 69, IDX= 410, 0.38, 0.133,-1.376, 0.212,-0.281, PHS= 0.502,-1.048, 0.491, RAW= 149.6,   0.7, CAL= 152.7,  -8.2, ROT= 357.3,   8.2

2025-06-25T20:50:03.181Z,1750884603.181 [DAT](INFO): DAT read: Bearing 357.3,   8.2 (Local)

2025-06-25T20:50:03.181Z,1750884603.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,   8.2 (Local)

2025-06-25T20:50:03.183Z,1750884603.183 [DAT](INFO): DAT read: Range 10 to 50 : 70.2 m  (Round-trip  93.6 ms) speed  0.4 m/s

2025-06-25T20:50:03.183Z,1750884603.183 [DAT](INFO): DAT read: user:721>

2025-06-25T20:50:03.184Z,1750884603.184 [DAT](INFO): DAT read: Tx time:20:50:04.3894

2025-06-25T20:50:03.185Z,1750884603.185 [DAT](INFO): Ping request sent.
2025-06-25T20:50:03.185Z,1750884603.185 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:03.185Z,1750884603.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:03.186Z,1750884603.186 [DAT](INFO): direction in FSK: [0.988677,-0.046625,-0.142629]
2025-06-25T20:50:03.186Z,1750884603.186 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:03.187Z,1750884603.187 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:03.193Z,1750884603.193 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:03.194Z,1750884603.194 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:03.394Z,1750884603.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.199997 m,
      deltaT: 3.527283 s,
      deltaX: -2.400002 m,
      approachRate: -0.680411 m/s,
      rangeRepo size: 4

2025-06-25T20:50:03.400Z,1750884603.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.531845 m,
      bearing: 240.482837 deg,
      lat: 36.906256 deg,
      lon: -122.116369 deg,
      deltaT: 3.527283 s,
      deltaX: -2.377159 m,
      approachRate: -0.673935 m/s,
      posRepo size: 4

2025-06-25T20:50:03.401Z,1750884603.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:03.403Z,1750884603.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 68.868225 m,
      bearing: 240.248738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003343 deg/s,
      cmd heading: 242.088842 deg,
      new cmd heading: 242.094108 deg.

2025-06-25T20:50:03.406Z,1750884603.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225339 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:03.421Z,1750884603.421 [DAT](INFO): DAT read: TxSync time:20:50:04.3886

2025-06-25T20:50:03.705Z,1750884603.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:03.712Z,1750884603.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 68.659790 m,
      bearing: 240.249060 deg,
      approach rate: -0.667428 m/s,
      LOS rate: 0.001033 deg/s,
      cmd heading: 242.094115 deg,
      new cmd heading: 242.095083 deg.

2025-06-25T20:50:03.713Z,1750884603.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225356 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:04.084Z,1750884604.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:04.087Z,1750884604.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 68.411606 m,
      bearing: 240.249383 deg,
      approach rate: -0.654681 m/s,
      LOS rate: 0.000855 deg/s,
      cmd heading: 242.095072 deg,
      new cmd heading: 242.096044 deg.

2025-06-25T20:50:04.088Z,1750884604.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225373 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:04.520Z,1750884604.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:04.523Z,1750884604.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 68.129692 m,
      bearing: 240.250843 deg,
      approach rate: -0.647512 m/s,
      LOS rate: 0.003367 deg/s,
      cmd heading: 242.096055 deg,
      new cmd heading: 242.100453 deg.

2025-06-25T20:50:04.524Z,1750884604.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225450 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:04.890Z,1750884604.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:04.893Z,1750884604.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:04.895Z,1750884604.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 67.888947 m,
      bearing: 240.251982 deg,
      approach rate: -0.645642 m/s,
      LOS rate: 0.003065 deg/s,
      cmd heading: 242.100454 deg,
      new cmd heading: 242.103882 deg.

2025-06-25T20:50:04.897Z,1750884604.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225510 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:04.933Z,1750884604.933 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:04.933Z,1750884604.933 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:04.933Z,1750884604.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:05.185Z,1750884605.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999934
2025-06-25T20:50:05.334Z,1750884605.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:05.337Z,1750884605.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 67.597473 m,
      bearing: 240.251181 deg,
      approach rate: -0.660246 m/s,
      LOS rate: -0.001822 deg/s,
      cmd heading: 242.103869 deg,
      new cmd heading: 242.101455 deg.

2025-06-25T20:50:05.338Z,1750884605.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225468 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:05.437Z,1750884605.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251946
2025-06-25T20:50:05.689Z,1750884605.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503965
2025-06-25T20:50:05.692Z,1750884605.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:50:05.704Z,1750884605.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:05.707Z,1750884605.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 67.353989 m,
      bearing: 240.250489 deg,
      approach rate: -0.658675 m/s,
      LOS rate: -0.001878 deg/s,
      cmd heading: 242.101465 deg,
      new cmd heading: 242.099382 deg.

2025-06-25T20:50:05.708Z,1750884605.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225431 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:05.941Z,1750884605.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756065
2025-06-25T20:50:06.103Z,1750884606.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:06.106Z,1750884606.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 67.090927 m,
      bearing: 240.249730 deg,
      approach rate: -0.658423 m/s,
      LOS rate: -0.001907 deg/s,
      cmd heading: 242.099388 deg,
      new cmd heading: 242.097102 deg.

2025-06-25T20:50:06.107Z,1750884606.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225391 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:06.193Z,1750884606.193 [DAT](INFO): DAT read: Rx Time:20:50:06.8842

2025-06-25T20:50:06.194Z,1750884606.194 [DAT](INFO): Rx dataTimestamp_ set to:1750884606.193329
2025-06-25T20:50:06.194Z,1750884606.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009308
2025-06-25T20:50:06.445Z,1750884606.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260306
2025-06-25T20:50:06.539Z,1750884606.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-25T20:50:06.542Z,1750884606.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.531845 m,
      nav range: 66.796730 m,
      bearing: 240.245713 deg,
      approach rate: -0.675277 m/s,
      LOS rate: -0.009260 deg/s,
      cmd heading: 242.097093 deg,
      new cmd heading: 242.084991 deg.

2025-06-25T20:50:06.543Z,1750884606.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225180 target range: 69.531845 and range: 70.20 m.
2025-06-25T20:50:06.703Z,1750884606.703 [DAT](INFO): DAT read: 20:50:06.8842 LVL= 21888, 32545, 19650, 32755, AGC= 65, IDX= 412, 0.05,-0.911,-2.275,-0.822,-1.251, PHS= 0.428,-0.977, 0.426, RAW= 149.9,   1.8, CAL= 152.6,  -7.1, ROT= 357.4,   7.1

2025-06-25T20:50:06.704Z,1750884606.704 [DAT](INFO): got valid direction response:
 20:50:06.8842 LVL= 21888, 32545, 19650, 32755, AGC= 65, IDX= 412, 0.05,-0.911,-2.275,-0.822,-1.251, PHS= 0.428,-0.977, 0.426, RAW= 149.9,   1.8, CAL= 152.6,  -7.1, ROT= 357.4,   7.1

2025-06-25T20:50:06.705Z,1750884606.705 [DAT](INFO): DAT read: Bearing 357.4,   7.1 (Local)

2025-06-25T20:50:06.706Z,1750884606.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,   7.1 (Local)

2025-06-25T20:50:06.709Z,1750884606.709 [DAT](INFO): DAT read: Range 10 to 50 : 67.9 m  (Round-trip  90.6 ms) speed  0.8 m/s

2025-06-25T20:50:06.711Z,1750884606.711 [DAT](INFO): DAT read: user:722>

2025-06-25T20:50:06.713Z,1750884606.713 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:50:06.715Z,1750884606.715 [DAT](INFO): DAT read: Tx time:20:50:07.9895

2025-06-25T20:50:06.715Z,1750884606.715 [DAT](INFO): Ping request sent.
2025-06-25T20:50:06.715Z,1750884606.715 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:06.716Z,1750884606.716 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:06.718Z,1750884606.718 [DAT](INFO): direction in FSK: [0.991310,-0.045015,-0.123601]
2025-06-25T20:50:06.718Z,1750884606.718 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:06.719Z,1750884606.719 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:06.760Z,1750884606.760 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:06.761Z,1750884606.761 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:06.949Z,1750884606.949 [DAT](INFO): DAT read: TxSync time:20:50:07.9887

2025-06-25T20:50:06.964Z,1750884606.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.900002 m,
      deltaT: 3.528173 s,
      deltaX: -2.299995 m,
      approachRate: -0.651894 m/s,
      rangeRepo size: 4

2025-06-25T20:50:06.966Z,1750884606.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.253609 m,
      bearing: 240.523503 deg,
      lat: 36.906256 deg,
      lon: -122.116369 deg,
      deltaT: 3.528173 s,
      deltaX: -2.278236 m,
      approachRate: -0.645727 m/s,
      posRepo size: 4

2025-06-25T20:50:06.967Z,1750884606.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:06.978Z,1750884606.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 66.530151 m,
      bearing: 240.242136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009260 deg/s,
      cmd heading: 242.084990 deg,
      new cmd heading: 242.073315 deg.

2025-06-25T20:50:06.979Z,1750884606.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224977 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:07.361Z,1750884607.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:07.363Z,1750884607.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:07.366Z,1750884607.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 66.230011 m,
      bearing: 240.236970 deg,
      approach rate: -0.743759 m/s,
      LOS rate: -0.012859 deg/s,
      cmd heading: 242.073324 deg,
      new cmd heading: 242.057757 deg.

2025-06-25T20:50:07.367Z,1750884607.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224705 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:07.454Z,1750884607.454 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:07.454Z,1750884607.454 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:07.454Z,1750884607.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:07.705Z,1750884607.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989248
2025-06-25T20:50:07.763Z,1750884607.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:07.770Z,1750884607.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 65.963913 m,
      bearing: 240.232822 deg,
      approach rate: -0.664833 m/s,
      LOS rate: -0.010407 deg/s,
      cmd heading: 242.057751 deg,
      new cmd heading: 242.045255 deg.

2025-06-25T20:50:07.771Z,1750884607.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224487 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:07.957Z,1750884607.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241361
2025-06-25T20:50:08.133Z,1750884608.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:08.135Z,1750884608.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 65.692047 m,
      bearing: 240.228665 deg,
      approach rate: -0.735590 m/s,
      LOS rate: -0.011292 deg/s,
      cmd heading: 242.045266 deg,
      new cmd heading: 242.032746 deg.

2025-06-25T20:50:08.144Z,1750884608.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224268 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:08.213Z,1750884608.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497314
2025-06-25T20:50:08.461Z,1750884608.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745317
2025-06-25T20:50:08.562Z,1750884608.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:08.565Z,1750884608.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 65.386131 m,
      bearing: 240.221007 deg,
      approach rate: -0.712025 m/s,
      LOS rate: -0.017910 deg/s,
      cmd heading: 242.032753 deg,
      new cmd heading: 242.009669 deg.

2025-06-25T20:50:08.566Z,1750884608.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223866 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:08.713Z,1750884608.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997342
2025-06-25T20:50:08.933Z,1750884608.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:08.936Z,1750884608.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 65.122658 m,
      bearing: 240.214677 deg,
      approach rate: -0.711001 m/s,
      LOS rate: -0.017150 deg/s,
      cmd heading: 242.009667 deg,
      new cmd heading: 241.990601 deg.

2025-06-25T20:50:08.937Z,1750884608.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223533 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:08.967Z,1750884608.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251015
2025-06-25T20:50:09.217Z,1750884609.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501279
2025-06-25T20:50:09.411Z,1750884609.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:09.413Z,1750884609.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:09.416Z,1750884609.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 64.780960 m,
      bearing: 240.206811 deg,
      approach rate: -0.711091 m/s,
      LOS rate: -0.016455 deg/s,
      cmd heading: 241.990597 deg,
      new cmd heading: 241.966876 deg.

2025-06-25T20:50:09.417Z,1750884609.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223119 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:09.469Z,1750884609.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753488
2025-06-25T20:50:09.721Z,1750884609.721 [DAT](INFO): DAT read: Rx Time:20:50:10.4808

2025-06-25T20:50:09.721Z,1750884609.721 [DAT](INFO): Rx dataTimestamp_ set to:1750884609.721057
2025-06-25T20:50:09.722Z,1750884609.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006495
2025-06-25T20:50:09.760Z,1750884609.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:09.763Z,1750884609.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 64.533852 m,
      bearing: 240.201763 deg,
      approach rate: -0.712426 m/s,
      LOS rate: -0.014611 deg/s,
      cmd heading: 241.966883 deg,
      new cmd heading: 241.951679 deg.

2025-06-25T20:50:09.764Z,1750884609.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222854 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:09.973Z,1750884609.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257784
2025-06-25T20:50:10.182Z,1750884610.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-25T20:50:10.209Z,1750884610.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.253609 m,
      nav range: 64.257851 m,
      bearing: 240.196302 deg,
      approach rate: -0.705351 m/s,
      LOS rate: -0.014014 deg/s,
      cmd heading: 241.951692 deg,
      new cmd heading: 241.935241 deg.

2025-06-25T20:50:10.216Z,1750884610.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222567 target range: 67.253609 and range: 67.90 m.
2025-06-25T20:50:10.231Z,1750884610.231 [DAT](INFO): DAT read: 20:50:10.4808 LVL= 21920, 32753, 19218, 32755, AGC= 70, IDX= 409,-0.41, 0.533,-0.850, 0.591, 0.168, PHS= 0.453,-0.971, 0.420, RAW= 148.8,   1.4, CAL= 151.8,  -7.5, ROT= 358.2,   7.5

2025-06-25T20:50:10.232Z,1750884610.232 [DAT](INFO): got valid direction response:
 20:50:10.4808 LVL= 21920, 32753, 19218, 32755, AGC= 70, IDX= 409,-0.41, 0.533,-0.850, 0.591, 0.168, PHS= 0.453,-0.971, 0.420, RAW= 148.8,   1.4, CAL= 151.8,  -7.5, ROT= 358.2,   7.5

2025-06-25T20:50:10.233Z,1750884610.233 [DAT](INFO): DAT read: Bearing 358.2,   7.5 (Local)

2025-06-25T20:50:10.233Z,1750884610.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,   7.5 (Local)

2025-06-25T20:50:10.235Z,1750884610.235 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m  (Round-trip  87.2 ms) speed  0.6 m/s

2025-06-25T20:50:10.235Z,1750884610.235 [DAT](INFO): DAT read: user:723>

2025-06-25T20:50:10.236Z,1750884610.236 [DAT](INFO): DAT read: Tx time:20:50:11.5895

2025-06-25T20:50:10.237Z,1750884610.237 [DAT](INFO): Ping request sent.
2025-06-25T20:50:10.237Z,1750884610.237 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:10.237Z,1750884610.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:10.238Z,1750884610.238 [DAT](INFO): direction in FSK: [0.990956,-0.031142,-0.130526]
2025-06-25T20:50:10.238Z,1750884610.238 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:10.239Z,1750884610.239 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:10.246Z,1750884610.246 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:10.246Z,1750884610.246 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:10.482Z,1750884610.482 [DAT](INFO): DAT read: TxSync time:20:50:11.5887

2025-06-25T20:50:10.618Z,1750884610.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.400002 m,
      deltaT: 3.527912 s,
      deltaX: -2.500000 m,
      approachRate: -0.708634 m/s,
      rangeRepo size: 4

2025-06-25T20:50:10.624Z,1750884610.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.777290 m,
      bearing: 240.771394 deg,
      lat: 36.906258 deg,
      lon: -122.116370 deg,
      deltaT: 3.527912 s,
      deltaX: -2.476318 m,
      approachRate: -0.701922 m/s,
      posRepo size: 4

2025-06-25T20:50:10.625Z,1750884610.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:10.633Z,1750884610.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 63.887676 m,
      bearing: 240.378094 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014014 deg/s,
      cmd heading: 241.935245 deg,
      new cmd heading: 241.915680 deg.

2025-06-25T20:50:10.634Z,1750884610.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222225 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:10.952Z,1750884610.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:10.955Z,1750884610.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 63.641472 m,
      bearing: 240.376037 deg,
      approach rate: -0.734783 m/s,
      LOS rate: -0.006163 deg/s,
      cmd heading: 241.915683 deg,
      new cmd heading: 241.909489 deg.

2025-06-25T20:50:10.956Z,1750884610.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222117 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:11.438Z,1750884611.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:11.440Z,1750884611.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:11.443Z,1750884611.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 63.304214 m,
      bearing: 240.373803 deg,
      approach rate: -0.691482 m/s,
      LOS rate: -0.004605 deg/s,
      cmd heading: 241.909482 deg,
      new cmd heading: 241.902744 deg.

2025-06-25T20:50:11.444Z,1750884611.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221999 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:11.489Z,1750884611.489 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:11.489Z,1750884611.489 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:11.490Z,1750884611.490 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:11.741Z,1750884611.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504104
2025-06-25T20:50:11.798Z,1750884611.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:11.800Z,1750884611.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 63.056252 m,
      bearing: 240.372145 deg,
      approach rate: -0.693101 m/s,
      LOS rate: -0.004652 deg/s,
      cmd heading: 241.902733 deg,
      new cmd heading: 241.897740 deg.

2025-06-25T20:50:11.801Z,1750884611.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221912 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:11.993Z,1750884611.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756529
2025-06-25T20:50:12.184Z,1750884612.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:12.187Z,1750884612.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 62.789040 m,
      bearing: 240.370768 deg,
      approach rate: -0.690684 m/s,
      LOS rate: -0.003573 deg/s,
      cmd heading: 241.897734 deg,
      new cmd heading: 241.893587 deg.

2025-06-25T20:50:12.189Z,1750884612.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221839 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:12.246Z,1750884612.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008605
2025-06-25T20:50:12.497Z,1750884612.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260399
2025-06-25T20:50:12.677Z,1750884612.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:12.683Z,1750884612.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 62.460354 m,
      bearing: 240.377788 deg,
      approach rate: -0.666681 m/s,
      LOS rate: 0.014313 deg/s,
      cmd heading: 241.893581 deg,
      new cmd heading: 241.914750 deg.

2025-06-25T20:50:12.684Z,1750884612.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222209 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:12.749Z,1750884612.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512165
2025-06-25T20:50:13.001Z,1750884613.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764090
2025-06-25T20:50:13.031Z,1750884613.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:13.038Z,1750884613.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 62.238400 m,
      bearing: 240.382373 deg,
      approach rate: -0.627768 m/s,
      LOS rate: 0.013016 deg/s,
      cmd heading: 241.914755 deg,
      new cmd heading: 241.928560 deg.

2025-06-25T20:50:13.039Z,1750884613.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222450 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:13.253Z,1750884613.253 [DAT](INFO): DAT read: Rx Time:20:50:14.0773

2025-06-25T20:50:13.253Z,1750884613.253 [DAT](INFO): Rx dataTimestamp_ set to:1750884613.253077
2025-06-25T20:50:13.254Z,1750884613.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017144
2025-06-25T20:50:13.464Z,1750884613.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:13.466Z,1750884613.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:13.469Z,1750884613.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 61.938381 m,
      bearing: 240.393151 deg,
      approach rate: -0.689659 m/s,
      LOS rate: 0.024896 deg/s,
      cmd heading: 241.928552 deg,
      new cmd heading: 241.961042 deg.

2025-06-25T20:50:13.470Z,1750884613.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223017 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:13.506Z,1750884613.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269401
2025-06-25T20:50:13.759Z,1750884613.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521976
2025-06-25T20:50:13.834Z,1750884613.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.78 m.
2025-06-25T20:50:13.837Z,1750884613.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.777290 m,
      nav range: 61.694851 m,
      bearing: 240.401874 deg,
      approach rate: -0.660891 m/s,
      LOS rate: 0.023764 deg/s,
      cmd heading: 241.961036 deg,
      new cmd heading: 241.987306 deg.

2025-06-25T20:50:13.838Z,1750884613.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223475 target range: 64.777290 and range: 65.40 m.
2025-06-25T20:50:14.016Z,1750884614.016 [DAT](INFO): DAT read: 20:50:14.0773 LVL= 27504, 31057, 21074, 32755, AGC= 66, IDX= 404, 0.25, 0.854,-0.601, 0.936, 0.471, PHS= 0.471,-1.025, 0.462, RAW= 149.7,   1.3, CAL= 152.6,  -7.6, ROT= 357.4,   7.6

2025-06-25T20:50:14.017Z,1750884614.017 [DAT](INFO): got valid direction response:
 20:50:14.0773 LVL= 27504, 31057, 21074, 32755, AGC= 66, IDX= 404, 0.25, 0.854,-0.601, 0.936, 0.471, PHS= 0.471,-1.025, 0.462, RAW= 149.7,   1.3, CAL= 152.6,  -7.6, ROT= 357.4,   7.6

2025-06-25T20:50:14.018Z,1750884614.018 [DAT](INFO): DAT read: Bearing 357.4,   7.6 (Local)

2025-06-25T20:50:14.018Z,1750884614.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,   7.6 (Local)

2025-06-25T20:50:14.020Z,1750884614.020 [DAT](INFO): DAT read: Range 10 to 50 : 62.7 m  (Round-trip  83.6 ms) speed  0.5 m/s

2025-06-25T20:50:14.021Z,1750884614.021 [DAT](INFO): DAT read: user:724>

2025-06-25T20:50:14.022Z,1750884614.022 [DAT](INFO): DAT read: Tx time:20:50:15.1911

2025-06-25T20:50:14.022Z,1750884614.022 [DAT](INFO): Ping request sent.
2025-06-25T20:50:14.022Z,1750884614.022 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:14.023Z,1750884614.023 [DAT](INFO): DAT read: TxSync time:20:50:15.1903

2025-06-25T20:50:14.023Z,1750884614.023 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:14.036Z,1750884614.036 [DAT](INFO): direction in FSK: [0.990195,-0.044964,-0.132256]
2025-06-25T20:50:14.037Z,1750884614.037 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:14.037Z,1750884614.037 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:14.049Z,1750884614.049 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:14.050Z,1750884614.050 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:14.249Z,1750884614.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.700001 m,
      deltaT: 3.784253 s,
      deltaX: -2.700001 m,
      approachRate: -0.713483 m/s,
      rangeRepo size: 4

2025-06-25T20:50:14.251Z,1750884614.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.103027 m,
      bearing: 239.996405 deg,
      lat: 36.906258 deg,
      lon: -122.116370 deg,
      deltaT: 3.784253 s,
      deltaX: -2.674263 m,
      approachRate: -0.706682 m/s,
      posRepo size: 4

2025-06-25T20:50:14.251Z,1750884614.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:14.258Z,1750884614.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 61.431591 m,
      bearing: 240.411211 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023764 deg/s,
      cmd heading: 241.987319 deg,
      new cmd heading: 242.016790 deg.

2025-06-25T20:50:14.259Z,1750884614.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223990 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:14.687Z,1750884614.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:14.694Z,1750884614.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 61.151375 m,
      bearing: 240.421056 deg,
      approach rate: -0.638137 m/s,
      LOS rate: 0.022522 deg/s,
      cmd heading: 242.016798 deg,
      new cmd heading: 242.046467 deg.

2025-06-25T20:50:14.695Z,1750884614.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224508 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:15.048Z,1750884615.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:15.051Z,1750884615.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 60.902958 m,
      bearing: 240.429859 deg,
      approach rate: -0.688248 m/s,
      LOS rate: 0.024489 deg/s,
      cmd heading: 242.046468 deg,
      new cmd heading: 242.072985 deg.

2025-06-25T20:50:15.052Z,1750884615.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224971 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:15.487Z,1750884615.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:15.490Z,1750884615.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:15.493Z,1750884615.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 60.613457 m,
      bearing: 240.444365 deg,
      approach rate: -0.655288 m/s,
      LOS rate: 0.032990 deg/s,
      cmd heading: 242.072996 deg,
      new cmd heading: 242.116721 deg.

2025-06-25T20:50:15.494Z,1750884615.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225734 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:15.521Z,1750884615.521 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:15.521Z,1750884615.521 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:15.521Z,1750884615.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:15.773Z,1750884615.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750807
2025-06-25T20:50:15.842Z,1750884615.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:15.845Z,1750884615.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 60.382057 m,
      bearing: 240.455681 deg,
      approach rate: -0.657159 m/s,
      LOS rate: 0.032260 deg/s,
      cmd heading: 242.116710 deg,
      new cmd heading: 242.150788 deg.

2025-06-25T20:50:15.846Z,1750884615.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226328 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:16.025Z,1750884616.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002880
2025-06-25T20:50:16.243Z,1750884616.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:16.262Z,1750884616.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 60.118538 m,
      bearing: 240.468354 deg,
      approach rate: -0.656306 m/s,
      LOS rate: 0.031702 deg/s,
      cmd heading: 242.150779 deg,
      new cmd heading: 242.188965 deg.

2025-06-25T20:50:16.263Z,1750884616.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226995 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:16.277Z,1750884616.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254863
2025-06-25T20:50:16.529Z,1750884616.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506798
2025-06-25T20:50:16.691Z,1750884616.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:16.698Z,1750884616.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 59.831848 m,
      bearing: 240.476930 deg,
      approach rate: -0.639928 m/s,
      LOS rate: 0.019234 deg/s,
      cmd heading: 242.188973 deg,
      new cmd heading: 242.214823 deg.

2025-06-25T20:50:16.699Z,1750884616.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227446 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:16.782Z,1750884616.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759778
2025-06-25T20:50:17.033Z,1750884617.033 [DAT](INFO): DAT read: Rx Time:20:50:17.6760

2025-06-25T20:50:17.033Z,1750884617.033 [DAT](INFO): Rx dataTimestamp_ set to:1750884617.033111
2025-06-25T20:50:17.034Z,1750884617.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011942
2025-06-25T20:50:17.050Z,1750884617.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:17.053Z,1750884617.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 59.582947 m,
      bearing: 240.484256 deg,
      approach rate: -0.693539 m/s,
      LOS rate: 0.020499 deg/s,
      cmd heading: 242.214818 deg,
      new cmd heading: 242.236888 deg.

2025-06-25T20:50:17.054Z,1750884617.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227831 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:17.290Z,1750884617.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266787
2025-06-25T20:50:17.514Z,1750884617.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:17.516Z,1750884617.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-06-25T20:50:17.519Z,1750884617.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.103027 m,
      nav range: 59.269970 m,
      bearing: 240.487481 deg,
      approach rate: -0.671868 m/s,
      LOS rate: 0.006961 deg/s,
      cmd heading: 242.236894 deg,
      new cmd heading: 242.246621 deg.

2025-06-25T20:50:17.520Z,1750884617.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228001 target range: 62.103027 and range: 62.70 m.
2025-06-25T20:50:17.543Z,1750884617.543 [DAT](INFO): DAT read: 20:50:17.6760 LVL= 32624, 32753, 24754, 32755, AGC= 68, IDX= 407,-0.23,-2.968, 1.944,-2.903, 2.988, PHS= 0.416,-0.996, 0.389, RAW= 149.1,   2.8, CAL= 151.6,  -6.1, ROT= 358.4,   6.1

2025-06-25T20:50:17.544Z,1750884617.544 [DAT](INFO): got valid direction response:
 20:50:17.6760 LVL= 32624, 32753, 24754, 32755, AGC= 68, IDX= 407,-0.23,-2.968, 1.944,-2.903, 2.988, PHS= 0.416,-0.996, 0.389, RAW= 149.1,   2.8, CAL= 151.6,  -6.1, ROT= 358.4,   6.1

2025-06-25T20:50:17.545Z,1750884617.545 [DAT](INFO): DAT read: Bearing 358.4,   6.1 (Local)

2025-06-25T20:50:17.545Z,1750884617.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,   6.1 (Local)

2025-06-25T20:50:17.547Z,1750884617.547 [DAT](INFO): DAT read: Range 10 to 50 : 60.5 m  (Round-trip  80.7 ms) speed  0.7 m/s

2025-06-25T20:50:17.548Z,1750884617.548 [DAT](INFO): DAT read: user:725>

2025-06-25T20:50:17.549Z,1750884617.549 [DAT](INFO): DAT read: Tx time:20:50:18.7896

2025-06-25T20:50:17.549Z,1750884617.549 [DAT](INFO): Ping request sent.
2025-06-25T20:50:17.549Z,1750884617.549 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:17.549Z,1750884617.549 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:17.550Z,1750884617.550 [DAT](INFO): direction in FSK: [0.993950,-0.027764,-0.106264]
2025-06-25T20:50:17.550Z,1750884617.550 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:17.551Z,1750884617.551 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:17.554Z,1750884617.554 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:17.554Z,1750884617.554 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:17.789Z,1750884617.789 [DAT](INFO): DAT read: TxSync time:20:50:18.7888

2025-06-25T20:50:17.966Z,1750884617.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.500000 m,
      deltaT: 3.527697 s,
      deltaX: -2.200001 m,
      approachRate: -0.623637 m/s,
      rangeRepo size: 4

2025-06-25T20:50:17.968Z,1750884617.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.923962 m,
      bearing: 241.204053 deg,
      lat: 36.906258 deg,
      lon: -122.116373 deg,
      deltaT: 3.527697 s,
      deltaX: -2.179066 m,
      approachRate: -0.617702 m/s,
      posRepo size: 4

2025-06-25T20:50:17.969Z,1750884617.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:17.971Z,1750884617.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 59.140137 m,
      bearing: 240.678576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006961 deg/s,
      cmd heading: 242.246620 deg,
      new cmd heading: 242.256001 deg.

2025-06-25T20:50:17.973Z,1750884617.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228165 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:18.361Z,1750884618.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:18.363Z,1750884618.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 58.871567 m,
      bearing: 240.682526 deg,
      approach rate: -0.679186 m/s,
      LOS rate: 0.010036 deg/s,
      cmd heading: 242.255991 deg,
      new cmd heading: 242.267896 deg.

2025-06-25T20:50:18.365Z,1750884618.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228373 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:18.815Z,1750884618.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:18.818Z,1750884618.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 58.548771 m,
      bearing: 240.680401 deg,
      approach rate: -0.709974 m/s,
      LOS rate: -0.004699 deg/s,
      cmd heading: 242.267903 deg,
      new cmd heading: 242.261494 deg.

2025-06-25T20:50:18.819Z,1750884618.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228261 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:19.195Z,1750884619.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:19.198Z,1750884619.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 58.279099 m,
      bearing: 240.678608 deg,
      approach rate: -0.710165 m/s,
      LOS rate: -0.004744 deg/s,
      cmd heading: 242.261482 deg,
      new cmd heading: 242.256078 deg.

2025-06-25T20:50:19.199Z,1750884619.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228166 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:19.609Z,1750884619.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:19.616Z,1750884619.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:19.618Z,1750884619.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 57.995010 m,
      bearing: 240.672527 deg,
      approach rate: -0.682286 m/s,
      LOS rate: -0.014677 deg/s,
      cmd heading: 242.256073 deg,
      new cmd heading: 242.237739 deg.

2025-06-25T20:50:19.619Z,1750884619.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227846 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:19.804Z,1750884619.804 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:19.805Z,1750884619.805 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:19.805Z,1750884619.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:19.996Z,1750884619.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:19.999Z,1750884619.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 57.704647 m,
      bearing: 240.666250 deg,
      approach rate: -0.755132 m/s,
      LOS rate: -0.016408 deg/s,
      cmd heading: 242.237741 deg,
      new cmd heading: 242.218813 deg.

2025-06-25T20:50:20.000Z,1750884620.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227516 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:20.058Z,1750884620.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509228
2025-06-25T20:50:20.309Z,1750884620.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759868
2025-06-25T20:50:20.380Z,1750884620.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:20.383Z,1750884620.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 57.428669 m,
      bearing: 240.660862 deg,
      approach rate: -0.718652 m/s,
      LOS rate: -0.014096 deg/s,
      cmd heading: 242.218807 deg,
      new cmd heading: 242.202568 deg.

2025-06-25T20:50:20.384Z,1750884620.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227232 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:20.561Z,1750884620.561 [DAT](INFO): DAT read: Rx Time:20:50:21.2710

2025-06-25T20:50:20.561Z,1750884620.561 [DAT](INFO): Rx dataTimestamp_ set to:1750884620.561002
2025-06-25T20:50:20.562Z,1750884620.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012856
2025-06-25T20:50:20.813Z,1750884620.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263894
2025-06-25T20:50:20.815Z,1750884620.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m.
2025-06-25T20:50:20.818Z,1750884620.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.923962 m,
      nav range: 57.117390 m,
      bearing: 240.652095 deg,
      approach rate: -0.715506 m/s,
      LOS rate: -0.020261 deg/s,
      cmd heading: 242.202579 deg,
      new cmd heading: 242.176135 deg.

2025-06-25T20:50:20.819Z,1750884620.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226771 target range: 59.923962 and range: 60.50 m.
2025-06-25T20:50:21.071Z,1750884621.071 [DAT](INFO): DAT read: 20:50:21.2710 LVL= 23280, 30881, 17842, 32755, AGC= 69, IDX= 404,-0.12,-0.493,-1.876,-0.454,-0.866, PHS= 0.461,-0.963, 0.409, RAW= 148.2,   1.3, CAL= 151.2,  -7.5, ROT= 358.8,   7.5

2025-06-25T20:50:21.072Z,1750884621.072 [DAT](INFO): got valid direction response:
 20:50:21.2710 LVL= 23280, 30881, 17842, 32755, AGC= 69, IDX= 404,-0.12,-0.493,-1.876,-0.454,-0.866, PHS= 0.461,-0.963, 0.409, RAW= 148.2,   1.3, CAL= 151.2,  -7.5, ROT= 358.8,   7.5

2025-06-25T20:50:21.073Z,1750884621.073 [DAT](INFO): DAT read: Bearing 358.8,   7.5 (Local)

2025-06-25T20:50:21.073Z,1750884621.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   7.5 (Local)

2025-06-25T20:50:21.075Z,1750884621.075 [DAT](INFO): DAT read: Range 10 to 50 : 57.9 m  (Round-trip  77.3 ms) speed  0.7 m/s

2025-06-25T20:50:21.075Z,1750884621.075 [DAT](INFO): DAT read: user:726>

2025-06-25T20:50:21.076Z,1750884621.076 [DAT](INFO): DAT read: Tx time:20:50:22.3896

2025-06-25T20:50:21.076Z,1750884621.076 [DAT](INFO): Ping request sent.
2025-06-25T20:50:21.076Z,1750884621.076 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:21.077Z,1750884621.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:21.078Z,1750884621.078 [DAT](INFO): direction in FSK: [0.991227,-0.020763,-0.130526]
2025-06-25T20:50:21.078Z,1750884621.078 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:21.078Z,1750884621.078 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:21.082Z,1750884621.082 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:21.082Z,1750884621.082 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:21.228Z,1750884621.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.900002 m,
      deltaT: 3.527942 s,
      deltaX: -2.599998 m,
      approachRate: -0.736973 m/s,
      rangeRepo size: 4

2025-06-25T20:50:21.231Z,1750884621.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.348675 m,
      bearing: 241.310916 deg,
      lat: 36.906260 deg,
      lon: -122.116376 deg,
      deltaT: 3.527942 s,
      deltaX: -2.575287 m,
      approachRate: -0.729969 m/s,
      posRepo size: 4

2025-06-25T20:50:21.236Z,1750884621.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:21.237Z,1750884621.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:21.250Z,1750884621.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 56.972237 m,
      bearing: 240.891369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020261 deg/s,
      cmd heading: 242.176132 deg,
      new cmd heading: 242.151308 deg.

2025-06-25T20:50:21.251Z,1750884621.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226337 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:21.283Z,1750884621.283 [DockingStepper](INFO): Changing to mode: 2
2025-06-25T20:50:21.283Z,1750884621.283 [DockingStepper](INFO): Armed mode.
2025-06-25T20:50:21.318Z,1750884621.318 [DAT](INFO): DAT read: TxSync time:20:50:22.3888

2025-06-25T20:50:21.348Z,1750884621.348 [DockingStepper](INFO): Commanding negative:54593
2025-06-25T20:50:21.619Z,1750884621.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:21.622Z,1750884621.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:21.622Z,1750884621.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:21.625Z,1750884621.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 56.674000 m,
      bearing: 240.883892 deg,
      approach rate: -0.749324 m/s,
      LOS rate: -0.018884 deg/s,
      cmd heading: 242.151298 deg,
      new cmd heading: 242.128750 deg.

2025-06-25T20:50:21.628Z,1750884621.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225944 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:21.821Z,1750884621.821 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:21.821Z,1750884621.821 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:21.821Z,1750884621.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:22.019Z,1750884622.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:22.025Z,1750884622.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:22.035Z,1750884622.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 56.400375 m,
      bearing: 240.877377 deg,
      approach rate: -0.687955 m/s,
      LOS rate: -0.016459 deg/s,
      cmd heading: 242.128758 deg,
      new cmd heading: 242.109119 deg.

2025-06-25T20:50:22.049Z,1750884622.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225601 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:22.073Z,1750884622.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996357
2025-06-25T20:50:22.325Z,1750884622.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248260
2025-06-25T20:50:22.410Z,1750884622.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:22.410Z,1750884622.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:22.413Z,1750884622.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 56.109421 m,
      bearing: 240.870636 deg,
      approach rate: -0.745105 m/s,
      LOS rate: -0.017354 deg/s,
      cmd heading: 242.109114 deg,
      new cmd heading: 242.088785 deg.

2025-06-25T20:50:22.414Z,1750884622.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225246 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:22.577Z,1750884622.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500578
2025-06-25T20:50:22.829Z,1750884622.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752336
2025-06-25T20:50:22.858Z,1750884622.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:22.858Z,1750884622.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:22.865Z,1750884622.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 55.812401 m,
      bearing: 240.865050 deg,
      approach rate: -0.663170 m/s,
      LOS rate: -0.012539 deg/s,
      cmd heading: 242.088788 deg,
      new cmd heading: 242.071940 deg.

2025-06-25T20:50:22.866Z,1750884622.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224952 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:23.081Z,1750884623.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004261
2025-06-25T20:50:23.237Z,1750884623.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:23.238Z,1750884623.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:23.245Z,1750884623.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 55.554279 m,
      bearing: 240.860014 deg,
      approach rate: -0.680192 m/s,
      LOS rate: -0.013332 deg/s,
      cmd heading: 242.071931 deg,
      new cmd heading: 242.056754 deg.

2025-06-25T20:50:23.246Z,1750884623.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224687 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:23.333Z,1750884623.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256500
2025-06-25T20:50:23.585Z,1750884623.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508325
2025-06-25T20:50:23.671Z,1750884623.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:23.677Z,1750884623.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:23.678Z,1750884623.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:23.685Z,1750884623.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 55.260941 m,
      bearing: 240.860655 deg,
      approach rate: -0.666593 m/s,
      LOS rate: 0.001464 deg/s,
      cmd heading: 242.056741 deg,
      new cmd heading: 242.058673 deg.

2025-06-25T20:50:23.686Z,1750884623.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224721 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:23.837Z,1750884623.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760273
2025-06-25T20:50:24.027Z,1750884624.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:24.027Z,1750884624.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:24.030Z,1750884624.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 55.017147 m,
      bearing: 240.860601 deg,
      approach rate: -0.696981 m/s,
      LOS rate: -0.000154 deg/s,
      cmd heading: 242.058680 deg,
      new cmd heading: 242.058519 deg.

2025-06-25T20:50:24.031Z,1750884624.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224718 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:24.090Z,1750884624.090 [DAT](INFO): DAT read: Rx Time:20:50:24.8674

2025-06-25T20:50:24.091Z,1750884624.091 [DAT](INFO): Rx dataTimestamp_ set to:1750884624.090283
2025-06-25T20:50:24.091Z,1750884624.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014959
2025-06-25T20:50:24.341Z,1750884624.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264235
2025-06-25T20:50:24.425Z,1750884624.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.35 m.
2025-06-25T20:50:24.425Z,1750884624.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.90 m.
2025-06-25T20:50:24.428Z,1750884624.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.348675 m,
      nav range: 54.751202 m,
      bearing: 240.860247 deg,
      approach rate: -0.668747 m/s,
      LOS rate: -0.000896 deg/s,
      cmd heading: 242.058516 deg,
      new cmd heading: 242.057448 deg.

2025-06-25T20:50:24.429Z,1750884624.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224699 target range: 57.348675 and range: 57.90 m.
2025-06-25T20:50:24.609Z,1750884624.609 [DAT](INFO): DAT read: 20:50:24.8674 LVL= 17824, 32753, 16194, 31171, AGC= 64, IDX= 399,-0.36,-0.681,-2.079,-0.587,-1.079, PHS= 0.486,-0.952, 0.489, RAW= 150.1,  -0.3, CAL= 153.4,  -9.2, ROT= 356.6,   9.2

2025-06-25T20:50:24.610Z,1750884624.610 [DAT](INFO): got valid direction response:
 20:50:24.8674 LVL= 17824, 32753, 16194, 31171, AGC= 64, IDX= 399,-0.36,-0.681,-2.079,-0.587,-1.079, PHS= 0.486,-0.952, 0.489, RAW= 150.1,  -0.3, CAL= 153.4,  -9.2, ROT= 356.6,   9.2

2025-06-25T20:50:24.611Z,1750884624.611 [DAT](INFO): DAT read: Bearing 356.6,   9.2 (Local)

2025-06-25T20:50:24.612Z,1750884624.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,   9.2 (Local)

2025-06-25T20:50:24.613Z,1750884624.613 [DAT](INFO): DAT read: Range 10 to 50 : 55.2 m  (Round-trip  73.7 ms) speed  0.7 m/s

2025-06-25T20:50:24.614Z,1750884624.614 [DAT](INFO): DAT read: user:727>

2025-06-25T20:50:24.615Z,1750884624.615 [DAT](INFO): DAT read: Tx time:20:50:25.9896

2025-06-25T20:50:24.615Z,1750884624.615 [DAT](INFO): Ping request sent.
2025-06-25T20:50:24.615Z,1750884624.615 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:24.616Z,1750884624.616 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:24.617Z,1750884624.617 [DAT](INFO): direction in FSK: [0.985399,-0.058544,-0.159881]
2025-06-25T20:50:24.617Z,1750884624.617 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:24.617Z,1750884624.617 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:24.621Z,1750884624.621 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:24.621Z,1750884624.621 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:24.845Z,1750884624.845 [DAT](INFO): DAT read: TxSync time:20:50:25.9888

2025-06-25T20:50:24.897Z,1750884624.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 3.530522 s,
      deltaX: -2.700001 m,
      approachRate: -0.764760 m/s,
      rangeRepo size: 4

2025-06-25T20:50:24.899Z,1750884624.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.674377 m,
      bearing: 239.379313 deg,
      lat: 36.906260 deg,
      lon: -122.116376 deg,
      deltaT: 3.530522 s,
      deltaX: -2.674297 m,
      approachRate: -0.757479 m/s,
      posRepo size: 4

2025-06-25T20:50:24.904Z,1750884624.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:24.904Z,1750884624.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:24.907Z,1750884624.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 54.458424 m,
      bearing: 240.872377 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000896 deg/s,
      cmd heading: 242.057451 deg,
      new cmd heading: 242.056195 deg.

2025-06-25T20:50:24.913Z,1750884624.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224678 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:25.235Z,1750884625.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:25.235Z,1750884625.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:25.239Z,1750884625.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 54.230591 m,
      bearing: 240.881837 deg,
      approach rate: -0.664796 m/s,
      LOS rate: 0.027721 deg/s,
      cmd heading: 242.056194 deg,
      new cmd heading: 242.084695 deg.

2025-06-25T20:50:25.239Z,1750884625.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225175 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:25.681Z,1750884625.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:25.683Z,1750884625.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:25.683Z,1750884625.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:25.690Z,1750884625.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 53.950443 m,
      bearing: 240.890279 deg,
      approach rate: -0.625303 m/s,
      LOS rate: 0.018941 deg/s,
      cmd heading: 242.084690 deg,
      new cmd heading: 242.110147 deg.

2025-06-25T20:50:25.691Z,1750884625.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225619 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:25.857Z,1750884625.857 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:25.857Z,1750884625.857 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:25.857Z,1750884625.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:26.041Z,1750884626.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:26.042Z,1750884626.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:26.045Z,1750884626.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 53.716709 m,
      bearing: 240.897164 deg,
      approach rate: -0.651665 m/s,
      LOS rate: 0.019280 deg/s,
      cmd heading: 242.110153 deg,
      new cmd heading: 242.130898 deg.

2025-06-25T20:50:26.046Z,1750884626.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225981 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:26.109Z,1750884626.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493918
2025-06-25T20:50:26.361Z,1750884626.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745470
2025-06-25T20:50:26.448Z,1750884626.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:26.448Z,1750884626.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:26.451Z,1750884626.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 53.457443 m,
      bearing: 240.904031 deg,
      approach rate: -0.638303 m/s,
      LOS rate: 0.016988 deg/s,
      cmd heading: 242.130889 deg,
      new cmd heading: 242.151589 deg.

2025-06-25T20:50:26.452Z,1750884626.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226343 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:26.615Z,1750884626.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999558
2025-06-25T20:50:26.865Z,1750884626.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249550
2025-06-25T20:50:26.882Z,1750884626.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:26.883Z,1750884626.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:26.886Z,1750884626.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 53.178764 m,
      bearing: 240.915396 deg,
      approach rate: -0.640909 m/s,
      LOS rate: 0.026274 deg/s,
      cmd heading: 242.151598 deg,
      new cmd heading: 242.185871 deg.

2025-06-25T20:50:26.887Z,1750884626.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226941 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:27.117Z,1750884627.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501497
2025-06-25T20:50:27.269Z,1750884627.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:27.270Z,1750884627.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-06-25T20:50:27.270Z,1750884627.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.20 m.
2025-06-25T20:50:27.270Z,1750884627.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-25T20:50:27.277Z,1750884627.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 52.933483 m,
      bearing: 240.924273 deg,
      approach rate: -0.634357 m/s,
      LOS rate: 0.023064 deg/s,
      cmd heading: 242.185858 deg,
      new cmd heading: 242.212613 deg.

2025-06-25T20:50:27.278Z,1750884627.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227407 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:27.370Z,1750884627.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754214
2025-06-25T20:50:27.623Z,1750884627.623 [DAT](INFO): DAT read: Rx Time:20:50:28.4645

2025-06-25T20:50:27.625Z,1750884627.625 [DAT](INFO): Rx dataTimestamp_ set to:1750884627.623662
2025-06-25T20:50:27.626Z,1750884627.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010469
2025-06-25T20:50:27.713Z,1750884627.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:27.715Z,1750884627.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:27.718Z,1750884627.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 52.644112 m,
      bearing: 240.928794 deg,
      approach rate: -0.648747 m/s,
      LOS rate: 0.010192 deg/s,
      cmd heading: 242.212605 deg,
      new cmd heading: 242.226243 deg.

2025-06-25T20:50:27.719Z,1750884627.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227645 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:27.873Z,1750884627.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257524
2025-06-25T20:50:28.069Z,1750884628.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.67 m.
2025-06-25T20:50:28.072Z,1750884628.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.674377 m,
      nav range: 52.415970 m,
      bearing: 240.931974 deg,
      approach rate: -0.644665 m/s,
      LOS rate: 0.009026 deg/s,
      cmd heading: 242.226239 deg,
      new cmd heading: 242.235822 deg.

2025-06-25T20:50:28.073Z,1750884628.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227813 target range: 54.674377 and range: 55.20 m.
2025-06-25T20:50:28.126Z,1750884628.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510242
2025-06-25T20:50:28.383Z,1750884628.383 [DAT](INFO): DAT read: 20:50:28.4645 LVL= 21104, 30593, 18194, 30323, AGC= 65, IDX= 417,-0.14, 0.703,-0.718, 0.854, 0.310, PHS= 0.481,-0.981, 0.540, RAW= 152.0,  -0.5, CAL= 155.2,  -9.4, ROT= 354.8,   9.4

2025-06-25T20:50:28.384Z,1750884628.384 [DAT](INFO): got valid direction response:
 20:50:28.4645 LVL= 21104, 30593, 18194, 30323, AGC= 65, IDX= 417,-0.14, 0.703,-0.718, 0.854, 0.310, PHS= 0.481,-0.981, 0.540, RAW= 152.0,  -0.5, CAL= 155.2,  -9.4, ROT= 354.8,   9.4

2025-06-25T20:50:28.385Z,1750884628.385 [DAT](INFO): DAT read: Bearing 354.8,   9.4 (Local)

2025-06-25T20:50:28.385Z,1750884628.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,   9.4 (Local)

2025-06-25T20:50:28.387Z,1750884628.387 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m  (Round-trip  70.8 ms) speed  0.6 m/s

2025-06-25T20:50:28.387Z,1750884628.387 [DAT](INFO): DAT read: user:728>

2025-06-25T20:50:28.388Z,1750884628.388 [DAT](INFO): DAT read: Tx time:20:50:29.5896

2025-06-25T20:50:28.388Z,1750884628.388 [DAT](INFO): Ping request sent.
2025-06-25T20:50:28.389Z,1750884628.389 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:28.389Z,1750884628.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:28.390Z,1750884628.390 [DAT](INFO): direction in FSK: [0.982512,-0.089416,-0.163326]
2025-06-25T20:50:28.390Z,1750884628.390 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:28.390Z,1750884628.390 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:28.394Z,1750884628.394 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:28.394Z,1750884628.394 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:28.502Z,1750884628.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.099998 m,
      deltaT: 3.781484 s,
      deltaX: -2.100002 m,
      approachRate: -0.555338 m/s,
      rangeRepo size: 4

2025-06-25T20:50:28.508Z,1750884628.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.594418 m,
      bearing: 238.511280 deg,
      lat: 36.906254 deg,
      lon: -122.116368 deg,
      deltaT: 3.781484 s,
      deltaX: -2.079960 m,
      approachRate: -0.550038 m/s,
      posRepo size: 4

2025-06-25T20:50:28.509Z,1750884628.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:28.516Z,1750884628.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 51.910969 m,
      bearing: 239.960074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009026 deg/s,
      cmd heading: 242.235828 deg,
      new cmd heading: 242.247530 deg.

2025-06-25T20:50:28.517Z,1750884628.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228017 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:28.633Z,1750884628.633 [DAT](INFO): DAT read: TxSync time:20:50:29.5888

2025-06-25T20:50:28.912Z,1750884628.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:28.915Z,1750884628.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 51.626541 m,
      bearing: 239.954056 deg,
      approach rate: -0.692392 m/s,
      LOS rate: -0.014731 deg/s,
      cmd heading: 242.247521 deg,
      new cmd heading: 242.229367 deg.

2025-06-25T20:50:28.916Z,1750884628.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227700 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:29.322Z,1750884629.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:29.325Z,1750884629.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 51.363300 m,
      bearing: 239.948316 deg,
      approach rate: -0.641952 m/s,
      LOS rate: -0.014070 deg/s,
      cmd heading: 242.229380 deg,
      new cmd heading: 242.212072 deg.

2025-06-25T20:50:29.326Z,1750884629.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227398 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:29.710Z,1750884629.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:29.713Z,1750884629.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 51.091496 m,
      bearing: 239.931891 deg,
      approach rate: -0.700216 m/s,
      LOS rate: -0.042540 deg/s,
      cmd heading: 242.212059 deg,
      new cmd heading: 242.162521 deg.

2025-06-25T20:50:29.714Z,1750884629.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226533 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:30.094Z,1750884630.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:30.097Z,1750884630.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:30.100Z,1750884630.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 50.829411 m,
      bearing: 239.915497 deg,
      approach rate: -0.679436 m/s,
      LOS rate: -0.042717 deg/s,
      cmd heading: 242.162527 deg,
      new cmd heading: 242.113093 deg.

2025-06-25T20:50:30.101Z,1750884630.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225671 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:30.141Z,1750884630.141 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:30.141Z,1750884630.141 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:30.142Z,1750884630.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:30.394Z,1750884630.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005169
2025-06-25T20:50:30.488Z,1750884630.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:30.491Z,1750884630.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 50.562702 m,
      bearing: 239.898223 deg,
      approach rate: -0.680533 m/s,
      LOS rate: -0.044311 deg/s,
      cmd heading: 242.113103 deg,
      new cmd heading: 242.061006 deg.

2025-06-25T20:50:30.492Z,1750884630.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224761 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:30.648Z,1750884630.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258926
2025-06-25T20:50:30.897Z,1750884630.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508299
2025-06-25T20:50:30.924Z,1750884630.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:30.927Z,1750884630.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 50.264324 m,
      bearing: 239.882057 deg,
      approach rate: -0.683560 m/s,
      LOS rate: -0.037255 deg/s,
      cmd heading: 242.061003 deg,
      new cmd heading: 242.012216 deg.

2025-06-25T20:50:30.929Z,1750884630.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223910 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:31.149Z,1750884631.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760541
2025-06-25T20:50:31.304Z,1750884631.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:31.307Z,1750884631.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 50.004665 m,
      bearing: 239.867456 deg,
      approach rate: -0.684467 m/s,
      LOS rate: -0.038688 deg/s,
      cmd heading: 242.012208 deg,
      new cmd heading: 241.968178 deg.

2025-06-25T20:50:31.324Z,1750884631.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223141 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:31.406Z,1750884631.406 [DAT](INFO): DAT read: Rx Time:20:50:32.0615

2025-06-25T20:50:31.406Z,1750884631.406 [DAT](INFO): Rx dataTimestamp_ set to:1750884631.405729
2025-06-25T20:50:31.407Z,1750884631.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017973
2025-06-25T20:50:31.660Z,1750884631.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270665
2025-06-25T20:50:31.801Z,1750884631.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.59 m.
2025-06-25T20:50:31.808Z,1750884631.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.594418 m,
      nav range: 49.698475 m,
      bearing: 239.845132 deg,
      approach rate: -0.621878 m/s,
      LOS rate: -0.045619 deg/s,
      cmd heading: 241.968167 deg,
      new cmd heading: 241.900784 deg.

2025-06-25T20:50:31.809Z,1750884631.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221965 target range: 52.594418 and range: 53.10 m.
2025-06-25T20:50:31.917Z,1750884631.917 [DAT](INFO): DAT read: 20:50:32.0615 LVL= 24096, 32753, 20642, 32755, AGC= 68, IDX= 418, 0.02,-2.979, 1.911,-2.781, 2.909, PHS= 0.483,-0.951, 0.590, RAW= 153.6,  -1.6, CAL= 156.9, -10.3, ROT= 353.1,  10.3

2025-06-25T20:50:31.919Z,1750884631.919 [DAT](INFO): got valid direction response:
 20:50:32.0615 LVL= 24096, 32753, 20642, 32755, AGC= 68, IDX= 418, 0.02,-2.979, 1.911,-2.781, 2.909, PHS= 0.483,-0.951, 0.590, RAW= 153.6,  -1.6, CAL= 156.9, -10.3, ROT= 353.1,  10.3

2025-06-25T20:50:31.920Z,1750884631.920 [DAT](INFO): DAT read: Bearing 353.1,  10.3 (Local)

2025-06-25T20:50:31.920Z,1750884631.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,  10.3 (Local)

2025-06-25T20:50:31.922Z,1750884631.922 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m  (Round-trip  67.7 ms) speed  0.5 m/s

2025-06-25T20:50:31.922Z,1750884631.922 [DAT](INFO): DAT read: user:729>

2025-06-25T20:50:31.923Z,1750884631.923 [DAT](INFO): DAT read: Tx time:20:50:33.1396

2025-06-25T20:50:31.923Z,1750884631.923 [DAT](INFO): Ping request sent.
2025-06-25T20:50:31.924Z,1750884631.924 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:31.925Z,1750884631.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:31.926Z,1750884631.926 [DAT](INFO): direction in FSK: [0.976759,-0.118201,-0.178802]
2025-06-25T20:50:31.926Z,1750884631.926 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:31.926Z,1750884631.926 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:31.929Z,1750884631.929 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:31.929Z,1750884631.929 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:32.134Z,1750884632.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 3.532404 s,
      deltaX: -2.399998 m,
      approachRate: -0.679423 m/s,
      rangeRepo size: 4

2025-06-25T20:50:32.140Z,1750884632.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.217037 m,
      bearing: 237.217908 deg,
      lat: 36.906251 deg,
      lon: -122.116363 deg,
      deltaT: 3.532404 s,
      deltaX: -2.377380 m,
      approachRate: -0.673021 m/s,
      posRepo size: 4

2025-06-25T20:50:32.141Z,1750884632.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:32.148Z,1750884632.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 49.229679 m,
      bearing: 239.212510 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045619 deg/s,
      cmd heading: 241.900794 deg,
      new cmd heading: 241.854615 deg.

2025-06-25T20:50:32.149Z,1750884632.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221159 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:32.161Z,1750884632.161 [DAT](INFO): DAT read: TxSync time:20:50:33.1388

2025-06-25T20:50:32.507Z,1750884632.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:32.509Z,1750884632.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:32.512Z,1750884632.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 48.960548 m,
      bearing: 239.188853 deg,
      approach rate: -0.716146 m/s,
      LOS rate: -0.063296 deg/s,
      cmd heading: 241.854622 deg,
      new cmd heading: 241.783261 deg.

2025-06-25T20:50:32.513Z,1750884632.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219914 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:32.667Z,1750884632.667 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:32.668Z,1750884632.668 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:32.669Z,1750884632.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:32.917Z,1750884632.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993187
2025-06-25T20:50:32.956Z,1750884632.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:32.959Z,1750884632.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 48.660130 m,
      bearing: 239.168156 deg,
      approach rate: -0.673301 m/s,
      LOS rate: -0.046672 deg/s,
      cmd heading: 241.783260 deg,
      new cmd heading: 241.720787 deg.

2025-06-25T20:50:32.959Z,1750884632.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218823 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:33.169Z,1750884633.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245455
2025-06-25T20:50:33.332Z,1750884633.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:33.335Z,1750884633.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 48.414623 m,
      bearing: 239.150717 deg,
      approach rate: -0.652455 m/s,
      LOS rate: -0.046581 deg/s,
      cmd heading: 241.720777 deg,
      new cmd heading: 241.668195 deg.

2025-06-25T20:50:33.336Z,1750884633.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217906 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:33.422Z,1750884633.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497986
2025-06-25T20:50:33.676Z,1750884633.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752426
2025-06-25T20:50:33.775Z,1750884633.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:33.781Z,1750884633.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 48.115555 m,
      bearing: 239.138306 deg,
      approach rate: -0.675243 m/s,
      LOS rate: -0.028196 deg/s,
      cmd heading: 241.668185 deg,
      new cmd heading: 241.630720 deg.

2025-06-25T20:50:33.783Z,1750884633.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217252 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:33.925Z,1750884633.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001196
2025-06-25T20:50:34.125Z,1750884634.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:34.128Z,1750884634.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 47.884895 m,
      bearing: 239.128261 deg,
      approach rate: -0.657616 m/s,
      LOS rate: -0.028778 deg/s,
      cmd heading: 241.630728 deg,
      new cmd heading: 241.600446 deg.

2025-06-25T20:50:34.129Z,1750884634.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216723 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:34.177Z,1750884634.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253677
2025-06-25T20:50:34.429Z,1750884634.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505073
2025-06-25T20:50:34.530Z,1750884634.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:34.548Z,1750884634.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:34.551Z,1750884634.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 47.618031 m,
      bearing: 239.116340 deg,
      approach rate: -0.656738 m/s,
      LOS rate: -0.029500 deg/s,
      cmd heading: 241.600457 deg,
      new cmd heading: 241.564495 deg.

2025-06-25T20:50:34.556Z,1750884634.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216096 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:34.686Z,1750884634.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759930
2025-06-25T20:50:34.934Z,1750884634.934 [DAT](INFO): DAT read: Rx Time:20:50:35.6081

2025-06-25T20:50:34.935Z,1750884634.935 [DAT](INFO): Rx dataTimestamp_ set to:1750884634.934048
2025-06-25T20:50:34.936Z,1750884634.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012054
2025-06-25T20:50:34.995Z,1750884634.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:35.001Z,1750884635.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 47.330307 m,
      bearing: 239.111302 deg,
      approach rate: -0.621871 m/s,
      LOS rate: -0.010954 deg/s,
      cmd heading: 241.564502 deg,
      new cmd heading: 241.549298 deg.

2025-06-25T20:50:35.002Z,1750884635.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215830 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:35.185Z,1750884635.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261104
2025-06-25T20:50:35.369Z,1750884635.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.22 m.
2025-06-25T20:50:35.372Z,1750884635.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.217037 m,
      nav range: 47.090351 m,
      bearing: 239.106936 deg,
      approach rate: -0.640178 m/s,
      LOS rate: -0.011708 deg/s,
      cmd heading: 241.549285 deg,
      new cmd heading: 241.536120 deg.

2025-06-25T20:50:35.373Z,1750884635.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215600 target range: 50.217037 and range: 50.70 m.
2025-06-25T20:50:35.450Z,1750884635.450 [DAT](INFO): DAT read: 20:50:35.6081 LVL= 19808, 27617, 17010, 29683, AGC= 66, IDX= 398,-0.12, 2.172, 0.869, 2.434, 1.846, PHS= 0.414,-0.930, 0.584, RAW= 155.9,  -1.0, CAL= 158.8,  -9.6, ROT= 351.2,   9.6

2025-06-25T20:50:35.451Z,1750884635.451 [DAT](INFO): got valid direction response:
 20:50:35.6081 LVL= 19808, 27617, 17010, 29683, AGC= 66, IDX= 398,-0.12, 2.172, 0.869, 2.434, 1.846, PHS= 0.414,-0.930, 0.584, RAW= 155.9,  -1.0, CAL= 158.8,  -9.6, ROT= 351.2,   9.6

2025-06-25T20:50:35.453Z,1750884635.453 [DAT](INFO): DAT read: Bearing 351.2,   9.6 (Local)

2025-06-25T20:50:35.453Z,1750884635.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.2,   9.6 (Local)

2025-06-25T20:50:35.455Z,1750884635.455 [DAT](INFO): DAT read: Range 10 to 50 : 48.1 m  (Round-trip  64.2 ms) speed  0.6 m/s

2025-06-25T20:50:35.456Z,1750884635.456 [DAT](INFO): DAT read: user:730>

2025-06-25T20:50:35.457Z,1750884635.457 [DAT](INFO): DAT read: Tx time:20:50:36.6897

2025-06-25T20:50:35.457Z,1750884635.457 [DAT](INFO): Ping request sent.
2025-06-25T20:50:35.457Z,1750884635.457 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:35.457Z,1750884635.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:35.458Z,1750884635.458 [DAT](INFO): direction in FSK: [0.974389,-0.150843,-0.166769]
2025-06-25T20:50:35.459Z,1750884635.459 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:35.459Z,1750884635.459 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:35.462Z,1750884635.462 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:35.462Z,1750884635.462 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:35.692Z,1750884635.692 [DAT](INFO): DAT read: TxSync time:20:50:36.6889

2025-06-25T20:50:35.802Z,1750884635.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.099998 m,
      deltaT: 3.528311 s,
      deltaX: -2.600002 m,
      approachRate: -0.736897 m/s,
      rangeRepo size: 4

2025-06-25T20:50:35.829Z,1750884635.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.641720 m,
      bearing: 235.531659 deg,
      lat: 36.906243 deg,
      lon: -122.116361 deg,
      deltaT: 3.528311 s,
      deltaX: -2.575317 m,
      approachRate: -0.729901 m/s,
      posRepo size: 4

2025-06-25T20:50:35.830Z,1750884635.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:35.845Z,1750884635.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 47.091000 m,
      bearing: 238.153357 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011708 deg/s,
      cmd heading: 241.536116 deg,
      new cmd heading: 241.520943 deg.

2025-06-25T20:50:35.846Z,1750884635.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215336 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:36.153Z,1750884636.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:36.156Z,1750884636.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 46.869247 m,
      bearing: 238.148374 deg,
      approach rate: -0.630750 m/s,
      LOS rate: -0.014238 deg/s,
      cmd heading: 241.520953 deg,
      new cmd heading: 241.505936 deg.

2025-06-25T20:50:36.157Z,1750884636.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215074 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:36.550Z,1750884636.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:36.552Z,1750884636.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:36.555Z,1750884636.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 46.619560 m,
      bearing: 238.142640 deg,
      approach rate: -0.625723 m/s,
      LOS rate: -0.014448 deg/s,
      cmd heading: 241.505927 deg,
      new cmd heading: 241.488630 deg.

2025-06-25T20:50:36.556Z,1750884636.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214772 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:36.697Z,1750884636.697 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:36.697Z,1750884636.697 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:36.697Z,1750884636.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:36.832Z,1750884636.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:50:36.949Z,1750884636.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491657
2025-06-25T20:50:36.995Z,1750884636.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:36.998Z,1750884636.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 46.366898 m,
      bearing: 238.141409 deg,
      approach rate: -0.570127 m/s,
      LOS rate: -0.002791 deg/s,
      cmd heading: 241.488633 deg,
      new cmd heading: 241.484922 deg.

2025-06-25T20:50:36.999Z,1750884636.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214707 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:37.201Z,1750884637.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743587
2025-06-25T20:50:37.363Z,1750884637.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:37.366Z,1750884637.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 46.130714 m,
      bearing: 238.139810 deg,
      approach rate: -0.641083 m/s,
      LOS rate: -0.004363 deg/s,
      cmd heading: 241.484917 deg,
      new cmd heading: 241.480095 deg.

2025-06-25T20:50:37.367Z,1750884637.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214623 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:37.454Z,1750884637.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996309
2025-06-25T20:50:37.705Z,1750884637.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247610
2025-06-25T20:50:37.838Z,1750884637.838 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:50:37.844Z,1750884637.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:37.847Z,1750884637.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 45.841949 m,
      bearing: 238.135262 deg,
      approach rate: -0.600914 m/s,
      LOS rate: -0.009525 deg/s,
      cmd heading: 241.480109 deg,
      new cmd heading: 241.466377 deg.

2025-06-25T20:50:37.864Z,1750884637.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214383 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:37.957Z,1750884637.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499946
2025-06-25T20:50:38.175Z,1750884638.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:38.178Z,1750884638.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 45.646656 m,
      bearing: 238.131986 deg,
      approach rate: -0.589439 m/s,
      LOS rate: -0.009928 deg/s,
      cmd heading: 241.466366 deg,
      new cmd heading: 241.456499 deg.

2025-06-25T20:50:38.179Z,1750884638.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214211 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:38.213Z,1750884638.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756094
2025-06-25T20:50:38.465Z,1750884638.465 [DAT](INFO): DAT read: Rx Time:20:50:39.1549

2025-06-25T20:50:38.465Z,1750884638.465 [DAT](INFO): Rx dataTimestamp_ set to:1750884638.465060
2025-06-25T20:50:38.466Z,1750884638.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008680
2025-06-25T20:50:38.574Z,1750884638.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:38.576Z,1750884638.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-06-25T20:50:38.579Z,1750884638.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.641720 m,
      nav range: 45.397758 m,
      bearing: 238.127665 deg,
      approach rate: -0.621345 m/s,
      LOS rate: -0.010846 deg/s,
      cmd heading: 241.456504 deg,
      new cmd heading: 241.443469 deg.

2025-06-25T20:50:38.580Z,1750884638.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213984 target range: 47.641720 and range: 48.10 m.
2025-06-25T20:50:38.717Z,1750884638.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259607
2025-06-25T20:50:38.975Z,1750884638.975 [DAT](INFO): DAT read: 20:50:39.1549 LVL= 26032, 23441, 20530, 26819, AGC= 70, IDX= 414, 0.14,-3.097, 1.840,-2.841, 2.806, PHS= 0.468,-0.919, 0.633, RAW= 155.5,  -2.5, CAL= 159.0, -10.9, ROT= 351.0,  10.9

2025-06-25T20:50:38.976Z,1750884638.976 [DAT](INFO): got valid direction response:
 20:50:39.1549 LVL= 26032, 23441, 20530, 26819, AGC= 70, IDX= 414, 0.14,-3.097, 1.840,-2.841, 2.806, PHS= 0.468,-0.919, 0.633, RAW= 155.5,  -2.5, CAL= 159.0, -10.9, ROT= 351.0,  10.9

2025-06-25T20:50:38.977Z,1750884638.977 [DAT](INFO): DAT read: Bearing 351.0,  10.9 (Local)

2025-06-25T20:50:38.977Z,1750884638.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,  10.9 (Local)

2025-06-25T20:50:38.979Z,1750884638.979 [DAT](INFO): DAT read: Range 10 to 50 : 45.8 m  (Round-trip  61.1 ms) speed  0.4 m/s

2025-06-25T20:50:38.979Z,1750884638.979 [DAT](INFO): DAT read: user:731>

2025-06-25T20:50:38.980Z,1750884638.980 [DAT](INFO): DAT read: Tx time:20:50:40.2397

2025-06-25T20:50:38.981Z,1750884638.981 [DAT](INFO): Ping request sent.
2025-06-25T20:50:38.981Z,1750884638.981 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:38.981Z,1750884638.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:38.982Z,1750884638.982 [DAT](INFO): direction in FSK: [0.969869,-0.153612,-0.189095]
2025-06-25T20:50:38.982Z,1750884638.982 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:38.983Z,1750884638.983 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:38.986Z,1750884638.986 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:38.987Z,1750884638.987 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:39.113Z,1750884639.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.799999 m,
      deltaT: 3.531372 s,
      deltaX: -2.299999 m,
      approachRate: -0.651305 m/s,
      rangeRepo size: 4

2025-06-25T20:50:39.115Z,1750884639.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.363796 m,
      bearing: 235.764635 deg,
      lat: 36.906236 deg,
      lon: -122.116356 deg,
      deltaT: 3.531372 s,
      deltaX: -2.277924 m,
      approachRate: -0.645053 m/s,
      posRepo size: 4

2025-06-25T20:50:39.115Z,1750884639.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:39.126Z,1750884639.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 45.163830 m,
      bearing: 236.914010 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010846 deg/s,
      cmd heading: 241.443472 deg,
      new cmd heading: 241.426296 deg.

2025-06-25T20:50:39.127Z,1750884639.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213684 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:39.221Z,1750884639.221 [DAT](INFO): DAT read: TxSync time:20:50:40.2389

2025-06-25T20:50:39.481Z,1750884639.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:39.485Z,1750884639.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 44.916794 m,
      bearing: 236.889540 deg,
      approach rate: -0.655162 m/s,
      LOS rate: -0.065254 deg/s,
      cmd heading: 241.426287 deg,
      new cmd heading: 241.352473 deg.

2025-06-25T20:50:39.486Z,1750884639.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212395 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:39.866Z,1750884639.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:39.869Z,1750884639.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 44.674114 m,
      bearing: 236.860460 deg,
      approach rate: -0.630874 m/s,
      LOS rate: -0.076009 deg/s,
      cmd heading: 241.352466 deg,
      new cmd heading: 241.264751 deg.

2025-06-25T20:50:39.870Z,1750884639.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210864 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:40.234Z,1750884640.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:40.237Z,1750884640.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 44.448029 m,
      bearing: 236.833588 deg,
      approach rate: -0.612848 m/s,
      LOS rate: -0.073212 deg/s,
      cmd heading: 241.264739 deg,
      new cmd heading: 241.183714 deg.

2025-06-25T20:50:40.238Z,1750884640.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209450 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:40.638Z,1750884640.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:40.642Z,1750884640.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:40.665Z,1750884640.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 44.200905 m,
      bearing: 236.803988 deg,
      approach rate: -0.607167 m/s,
      LOS rate: -0.073131 deg/s,
      cmd heading: 241.183706 deg,
      new cmd heading: 241.094410 deg.

2025-06-25T20:50:40.666Z,1750884640.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207891 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:40.734Z,1750884640.734 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:40.734Z,1750884640.734 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:40.734Z,1750884640.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:40.985Z,1750884640.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003972
2025-06-25T20:50:41.071Z,1750884641.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:41.091Z,1750884641.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 43.926163 m,
      bearing: 236.760348 deg,
      approach rate: -0.639381 m/s,
      LOS rate: -0.102195 deg/s,
      cmd heading: 241.094422 deg,
      new cmd heading: 240.962683 deg.

2025-06-25T20:50:41.096Z,1750884641.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205592 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:41.237Z,1750884641.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255992
2025-06-25T20:50:41.443Z,1750884641.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:41.446Z,1750884641.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 43.689716 m,
      bearing: 236.722508 deg,
      approach rate: -0.635238 m/s,
      LOS rate: -0.102212 deg/s,
      cmd heading: 240.962681 deg,
      new cmd heading: 240.848546 deg.

2025-06-25T20:50:41.447Z,1750884641.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203600 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:41.489Z,1750884641.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508338
2025-06-25T20:50:41.741Z,1750884641.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759975
2025-06-25T20:50:41.891Z,1750884641.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:41.897Z,1750884641.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 43.406094 m,
      bearing: 236.675016 deg,
      approach rate: -0.633226 m/s,
      LOS rate: -0.106725 deg/s,
      cmd heading: 240.848535 deg,
      new cmd heading: 240.705129 deg.

2025-06-25T20:50:41.898Z,1750884641.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201097 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:41.993Z,1750884641.993 [DAT](INFO): DAT read: Rx Time:20:50:42.7024

2025-06-25T20:50:41.993Z,1750884641.993 [DAT](INFO): Rx dataTimestamp_ set to:1750884641.993109
2025-06-25T20:50:41.994Z,1750884641.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013199
2025-06-25T20:50:42.245Z,1750884642.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264088
2025-06-25T20:50:42.271Z,1750884642.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.36 m.
2025-06-25T20:50:42.278Z,1750884642.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.363796 m,
      nav range: 43.165150 m,
      bearing: 236.634176 deg,
      approach rate: -0.633691 m/s,
      LOS rate: -0.108009 deg/s,
      cmd heading: 240.705128 deg,
      new cmd heading: 240.581926 deg.

2025-06-25T20:50:42.279Z,1750884642.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198947 target range: 45.363796 and range: 45.80 m.
2025-06-25T20:50:42.503Z,1750884642.503 [DAT](INFO): DAT read: 20:50:42.7024 LVL= 21184, 24897, 15266, 26963, AGC= 64, IDX= 420,-0.11,-1.886, 3.012,-1.620,-2.228, PHS= 0.429,-0.996, 0.605, RAW= 155.7,  -0.5, CAL= 158.5,  -9.2, ROT= 351.5,   9.2

2025-06-25T20:50:42.504Z,1750884642.504 [DAT](INFO): got valid direction response:
 20:50:42.7024 LVL= 21184, 24897, 15266, 26963, AGC= 64, IDX= 420,-0.11,-1.886, 3.012,-1.620,-2.228, PHS= 0.429,-0.996, 0.605, RAW= 155.7,  -0.5, CAL= 158.5,  -9.2, ROT= 351.5,   9.2

2025-06-25T20:50:42.505Z,1750884642.505 [DAT](INFO): DAT read: Bearing 351.5,   9.2 (Local)

2025-06-25T20:50:42.505Z,1750884642.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.5,   9.2 (Local)

2025-06-25T20:50:42.507Z,1750884642.507 [DAT](INFO): DAT read: Range 10 to 50 : 43.8 m  (Round-trip  58.5 ms) speed  0.7 m/s

2025-06-25T20:50:42.507Z,1750884642.507 [DAT](INFO): DAT read: user:732>

2025-06-25T20:50:42.508Z,1750884642.508 [DAT](INFO): DAT read: Tx time:20:50:43.7897

2025-06-25T20:50:42.508Z,1750884642.508 [DAT](INFO): Ping request sent.
2025-06-25T20:50:42.509Z,1750884642.509 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:42.509Z,1750884642.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:42.510Z,1750884642.510 [DAT](INFO): direction in FSK: [0.976293,-0.145908,-0.159881]
2025-06-25T20:50:42.510Z,1750884642.510 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:42.510Z,1750884642.510 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:42.514Z,1750884642.514 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:42.514Z,1750884642.514 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:42.711Z,1750884642.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 3.527858 s,
      deltaX: -2.000000 m,
      approachRate: -0.566916 m/s,
      rangeRepo size: 4

2025-06-25T20:50:42.717Z,1750884642.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.382832 m,
      bearing: 235.637708 deg,
      lat: 36.906232 deg,
      lon: -122.116353 deg,
      deltaT: 3.527858 s,
      deltaX: -1.980965 m,
      approachRate: -0.561521 m/s,
      posRepo size: 4

2025-06-25T20:50:42.718Z,1750884642.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:42.726Z,1750884642.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 42.932636 m,
      bearing: 235.797312 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108009 deg/s,
      cmd heading: 240.581939 deg,
      new cmd heading: 240.439687 deg.

2025-06-25T20:50:42.727Z,1750884642.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196464 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:42.750Z,1750884642.750 [DAT](INFO): DAT read: TxSync time:20:50:43.7889

2025-06-25T20:50:43.083Z,1750884643.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:43.086Z,1750884643.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:43.089Z,1750884643.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 42.677231 m,
      bearing: 235.750209 deg,
      approach rate: -0.680789 m/s,
      LOS rate: -0.126308 deg/s,
      cmd heading: 240.439680 deg,
      new cmd heading: 240.297523 deg.

2025-06-25T20:50:43.090Z,1750884643.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193983 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:43.253Z,1750884643.253 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:43.253Z,1750884643.253 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:43.253Z,1750884643.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:43.484Z,1750884643.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:43.487Z,1750884643.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 42.417439 m,
      bearing: 235.701708 deg,
      approach rate: -0.652153 m/s,
      LOS rate: -0.122496 deg/s,
      cmd heading: 240.297530 deg,
      new cmd heading: 240.151137 deg.

2025-06-25T20:50:43.488Z,1750884643.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191428 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:43.506Z,1750884643.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997660
2025-06-25T20:50:43.757Z,1750884643.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248214
2025-06-25T20:50:43.923Z,1750884643.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:43.926Z,1750884643.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 42.133472 m,
      bearing: 235.658699 deg,
      approach rate: -0.646444 m/s,
      LOS rate: -0.098568 deg/s,
      cmd heading: 240.151145 deg,
      new cmd heading: 240.021251 deg.

2025-06-25T20:50:43.929Z,1750884643.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.189161 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:44.010Z,1750884644.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500660
2025-06-25T20:50:44.261Z,1750884644.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752276
2025-06-25T20:50:44.269Z,1750884644.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:44.272Z,1750884644.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 41.907978 m,
      bearing: 235.624303 deg,
      approach rate: -0.651727 m/s,
      LOS rate: -0.099947 deg/s,
      cmd heading: 240.021262 deg,
      new cmd heading: 239.917518 deg.

2025-06-25T20:50:44.273Z,1750884644.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187351 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:44.513Z,1750884644.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004273
2025-06-25T20:50:44.693Z,1750884644.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:44.696Z,1750884644.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 41.640392 m,
      bearing: 235.583400 deg,
      approach rate: -0.631824 m/s,
      LOS rate: -0.097202 deg/s,
      cmd heading: 239.917525 deg,
      new cmd heading: 239.794027 deg.

2025-06-25T20:50:44.697Z,1750884644.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185195 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:44.765Z,1750884644.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256363
2025-06-25T20:50:45.017Z,1750884645.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508150
2025-06-25T20:50:45.116Z,1750884645.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:45.118Z,1750884645.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:45.121Z,1750884645.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 41.354630 m,
      bearing: 235.542845 deg,
      approach rate: -0.671296 m/s,
      LOS rate: -0.095928 deg/s,
      cmd heading: 239.794035 deg,
      new cmd heading: 239.671530 deg.

2025-06-25T20:50:45.122Z,1750884645.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183057 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:45.269Z,1750884645.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760200
2025-06-25T20:50:45.521Z,1750884645.521 [DAT](INFO): DAT read: Rx Time:20:50:46.2493

2025-06-25T20:50:45.521Z,1750884645.521 [DAT](INFO): Rx dataTimestamp_ set to:1750884645.521025
2025-06-25T20:50:45.522Z,1750884645.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013264
2025-06-25T20:50:45.633Z,1750884645.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.38 m.
2025-06-25T20:50:45.638Z,1750884645.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.382832 m,
      nav range: 41.033966 m,
      bearing: 235.497917 deg,
      approach rate: -0.623276 m/s,
      LOS rate: -0.088009 deg/s,
      cmd heading: 239.671529 deg,
      new cmd heading: 239.535693 deg.

2025-06-25T20:50:45.639Z,1750884645.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180686 target range: 43.382832 and range: 43.80 m.
2025-06-25T20:50:45.773Z,1750884645.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264210
2025-06-25T20:50:46.031Z,1750884646.031 [DAT](INFO): DAT read: 20:50:46.2493 LVL= 22192, 29681, 17506, 30115, AGC= 64, IDX= 402, 0.34,-0.479,-1.826,-0.257,-0.877, PHS= 0.486,-0.902, 0.617, RAW= 154.5,  -2.8, CAL= 158.1, -11.2, ROT= 351.9,  11.2

2025-06-25T20:50:46.032Z,1750884646.032 [DAT](INFO): got valid direction response:
 20:50:46.2493 LVL= 22192, 29681, 17506, 30115, AGC= 64, IDX= 402, 0.34,-0.479,-1.826,-0.257,-0.877, PHS= 0.486,-0.902, 0.617, RAW= 154.5,  -2.8, CAL= 158.1, -11.2, ROT= 351.9,  11.2

2025-06-25T20:50:46.033Z,1750884646.033 [DAT](INFO): DAT read: Bearing 351.9,  11.2 (Local)

2025-06-25T20:50:46.033Z,1750884646.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,  11.2 (Local)

2025-06-25T20:50:46.035Z,1750884646.035 [DAT](INFO): DAT read: Range 10 to 50 : 41.4 m  (Round-trip  55.3 ms) speed  0.7 m/s

2025-06-25T20:50:46.036Z,1750884646.036 [DAT](INFO): DAT read: user:733>

2025-06-25T20:50:46.037Z,1750884646.037 [DAT](INFO): DAT read: Tx time:20:50:47.3398

2025-06-25T20:50:46.037Z,1750884646.037 [DAT](INFO): Ping request sent.
2025-06-25T20:50:46.037Z,1750884646.037 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:46.037Z,1750884646.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:46.038Z,1750884646.038 [DAT](INFO): direction in FSK: [0.971169,-0.138218,-0.194234]
2025-06-25T20:50:46.039Z,1750884646.039 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:46.039Z,1750884646.039 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:46.042Z,1750884646.042 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:46.042Z,1750884646.042 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:46.114Z,1750884646.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.400002 m,
      deltaT: 3.528205 s,
      deltaX: -2.399998 m,
      approachRate: -0.680232 m/s,
      rangeRepo size: 4

2025-06-25T20:50:46.124Z,1750884646.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.005692 m,
      bearing: 235.381175 deg,
      lat: 36.906232 deg,
      lon: -122.116350 deg,
      deltaT: 3.528205 s,
      deltaX: -2.377140 m,
      approachRate: -0.673753 m/s,
      posRepo size: 4

2025-06-25T20:50:46.125Z,1750884646.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:46.132Z,1750884646.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 40.536022 m,
      bearing: 235.259220 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088009 deg/s,
      cmd heading: 239.535690 deg,
      new cmd heading: 239.408895 deg.

2025-06-25T20:50:46.133Z,1750884646.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178473 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:46.277Z,1750884646.277 [DAT](INFO): DAT read: TxSync time:20:50:47.3390

2025-06-25T20:50:46.439Z,1750884646.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:46.446Z,1750884646.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 40.300217 m,
      bearing: 235.229460 deg,
      approach rate: -0.723321 m/s,
      LOS rate: -0.091823 deg/s,
      cmd heading: 239.408895 deg,
      new cmd heading: 239.319091 deg.

2025-06-25T20:50:46.447Z,1750884646.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176906 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:46.819Z,1750884646.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:46.822Z,1750884646.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 40.052666 m,
      bearing: 235.198784 deg,
      approach rate: -0.651508 m/s,
      LOS rate: -0.081232 deg/s,
      cmd heading: 239.319091 deg,
      new cmd heading: 239.226495 deg.

2025-06-25T20:50:46.823Z,1750884646.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175290 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:47.259Z,1750884647.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:47.261Z,1750884647.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:47.264Z,1750884647.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 39.773796 m,
      bearing: 235.172596 deg,
      approach rate: -0.630630 m/s,
      LOS rate: -0.059637 deg/s,
      cmd heading: 239.226501 deg,
      new cmd heading: 239.147385 deg.

2025-06-25T20:50:47.265Z,1750884647.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173909 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:47.287Z,1750884647.287 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:47.287Z,1750884647.287 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:47.288Z,1750884647.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:50:47.537Z,1750884647.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499652
2025-06-25T20:50:47.625Z,1750884647.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:47.631Z,1750884647.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 39.543949 m,
      bearing: 235.150414 deg,
      approach rate: -0.631390 m/s,
      LOS rate: -0.061287 deg/s,
      cmd heading: 239.147381 deg,
      new cmd heading: 239.080449 deg.

2025-06-25T20:50:47.633Z,1750884647.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172741 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:47.789Z,1750884647.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751602
2025-06-25T20:50:48.041Z,1750884648.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003767
2025-06-25T20:50:48.066Z,1750884648.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:48.081Z,1750884648.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 39.281040 m,
      bearing: 235.129713 deg,
      approach rate: -0.596479 m/s,
      LOS rate: -0.047279 deg/s,
      cmd heading: 239.080445 deg,
      new cmd heading: 239.017927 deg.

2025-06-25T20:50:48.081Z,1750884648.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171650 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:48.293Z,1750884648.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255668
2025-06-25T20:50:48.435Z,1750884648.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:48.438Z,1750884648.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 39.037701 m,
      bearing: 235.110744 deg,
      approach rate: -0.659271 m/s,
      LOS rate: -0.051715 deg/s,
      cmd heading: 239.017935 deg,
      new cmd heading: 238.960670 deg.

2025-06-25T20:50:48.441Z,1750884648.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170650 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:48.545Z,1750884648.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507898
2025-06-25T20:50:48.797Z,1750884648.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759612
2025-06-25T20:50:48.838Z,1750884648.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:48.841Z,1750884648.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 38.785896 m,
      bearing: 235.091619 deg,
      approach rate: -0.625046 m/s,
      LOS rate: -0.047781 deg/s,
      cmd heading: 238.960670 deg,
      new cmd heading: 238.902924 deg.

2025-06-25T20:50:48.842Z,1750884648.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169642 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:49.049Z,1750884649.049 [DAT](INFO): DAT read: Rx Time:20:50:49.7959

2025-06-25T20:50:49.049Z,1750884649.049 [DAT](INFO): Rx dataTimestamp_ set to:1750884649.049053
2025-06-25T20:50:49.050Z,1750884649.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012747
2025-06-25T20:50:49.270Z,1750884649.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:49.272Z,1750884649.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.01 m.
2025-06-25T20:50:49.275Z,1750884649.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.005692 m,
      nav range: 38.521721 m,
      bearing: 235.072638 deg,
      approach rate: -0.609043 m/s,
      LOS rate: -0.044059 deg/s,
      cmd heading: 238.902914 deg,
      new cmd heading: 238.845582 deg.

2025-06-25T20:50:49.276Z,1750884649.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168642 target range: 41.005692 and range: 41.40 m.
2025-06-25T20:50:49.305Z,1750884649.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268214
2025-06-25T20:50:49.563Z,1750884649.563 [DAT](INFO): DAT read: 20:50:49.7959 LVL= 29136, 32753, 22514, 32755, AGC= 65, IDX= 401, 0.00,-2.288, 2.548,-2.164,-2.732, PHS= 0.532,-0.957, 0.565, RAW= 151.1,  -1.9, CAL= 154.8, -10.6, ROT= 355.2,  10.6

2025-06-25T20:50:49.564Z,1750884649.564 [DAT](INFO): got valid direction response:
 20:50:49.7959 LVL= 29136, 32753, 22514, 32755, AGC= 65, IDX= 401, 0.00,-2.288, 2.548,-2.164,-2.732, PHS= 0.532,-0.957, 0.565, RAW= 151.1,  -1.9, CAL= 154.8, -10.6, ROT= 355.2,  10.6

2025-06-25T20:50:49.565Z,1750884649.565 [DAT](INFO): DAT read: Bearing 355.2,  10.6 (Local)

2025-06-25T20:50:49.565Z,1750884649.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  10.6 (Local)

2025-06-25T20:50:49.567Z,1750884649.567 [DAT](INFO): DAT read: Range 10 to 50 : 39.0 m  (Round-trip  52.0 ms) speed  0.4 m/s

2025-06-25T20:50:49.569Z,1750884649.569 [DAT](INFO): DAT read: user:734>

2025-06-25T20:50:49.571Z,1750884649.571 [DAT](INFO): DAT read: Tx time:20:50:50.8898

2025-06-25T20:50:49.571Z,1750884649.571 [DAT](INFO): Ping request sent.
2025-06-25T20:50:49.571Z,1750884649.571 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:49.572Z,1750884649.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:49.575Z,1750884649.575 [DAT](INFO): direction in FSK: [0.979488,-0.082250,-0.183951]
2025-06-25T20:50:49.575Z,1750884649.575 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:49.576Z,1750884649.576 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:49.610Z,1750884649.610 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:49.610Z,1750884649.610 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:49.721Z,1750884649.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.000000 m,
      deltaT: 3.532002 s,
      deltaX: -2.400002 m,
      approachRate: -0.679502 m/s,
      rangeRepo size: 4

2025-06-25T20:50:49.723Z,1750884649.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.628536 m,
      bearing: 238.134634 deg,
      lat: 36.906232 deg,
      lon: -122.116350 deg,
      deltaT: 3.532002 s,
      deltaX: -2.377155 m,
      approachRate: -0.673033 m/s,
      posRepo size: 4

2025-06-25T20:50:49.723Z,1750884649.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:49.730Z,1750884649.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 38.270027 m,
      bearing: 235.054673 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044059 deg/s,
      cmd heading: 238.845595 deg,
      new cmd heading: 238.786953 deg.

2025-06-25T20:50:49.731Z,1750884649.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167619 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:49.809Z,1750884649.809 [DAT](INFO): DAT read: TxSync time:20:50:50.8890

2025-06-25T20:50:50.093Z,1750884650.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-25T20:50:50.093Z,1750884650.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-25T20:50:50.094Z,1750884650.094 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-25T20:50:50.095Z,1750884650.095 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.000000 m (mode  2.000000 count ).
2025-06-25T20:50:50.095Z,1750884650.095 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-25T20:50:50.095Z,1750884650.095 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-25T20:50:50.098Z,1750884650.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:50.101Z,1750884650.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 38.016338 m,
      bearing: 235.033920 deg,
      approach rate: -0.663778 m/s,
      LOS rate: -0.054663 deg/s,
      cmd heading: 238.786965 deg,
      new cmd heading: 238.724291 deg.

2025-06-25T20:50:50.102Z,1750884650.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166525 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:50.463Z,1750884650.463 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-25T20:50:50.463Z,1750884650.463 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-25T20:50:50.465Z,1750884650.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:50.469Z,1750884650.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 37.788540 m,
      bearing: 235.016620 deg,
      approach rate: -0.619469 m/s,
      LOS rate: -0.047328 deg/s,
      cmd heading: 238.724291 deg,
      new cmd heading: 238.672080 deg.

2025-06-25T20:50:50.470Z,1750884650.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165614 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:50.860Z,1750884650.860 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-25T20:50:50.860Z,1750884650.860 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-25T20:50:50.863Z,1750884650.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:50.882Z,1750884650.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 37.543941 m,
      bearing: 234.998493 deg,
      approach rate: -0.615876 m/s,
      LOS rate: -0.045939 deg/s,
      cmd heading: 238.672081 deg,
      new cmd heading: 238.617346 deg.

2025-06-25T20:50:50.883Z,1750884650.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164659 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:51.283Z,1750884651.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-25T20:50:51.283Z,1750884651.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-25T20:50:51.283Z,1750884651.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-25T20:50:51.283Z,1750884651.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-25T20:50:51.284Z,1750884651.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:51.286Z,1750884651.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:51.306Z,1750884651.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 37.286747 m,
      bearing: 234.975253 deg,
      approach rate: -0.607251 m/s,
      LOS rate: -0.055251 deg/s,
      cmd heading: 238.617358 deg,
      new cmd heading: 238.547155 deg.

2025-06-25T20:50:51.307Z,1750884651.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163433 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:51.321Z,1750884651.321 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:50:51.321Z,1750884651.321 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:50:51.321Z,1750884651.321 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-25T20:50:51.573Z,1750884651.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001600
2025-06-25T20:50:51.694Z,1750884651.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:51.697Z,1750884651.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 37.038143 m,
      bearing: 234.952481 deg,
      approach rate: -0.609939 m/s,
      LOS rate: -0.056244 deg/s,
      cmd heading: 238.547143 deg,
      new cmd heading: 238.478370 deg.

2025-06-25T20:50:51.698Z,1750884651.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162233 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:51.826Z,1750884651.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254609
2025-06-25T20:50:52.077Z,1750884652.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505636
2025-06-25T20:50:52.128Z,1750884652.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:52.131Z,1750884652.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 36.786797 m,
      bearing: 234.920636 deg,
      approach rate: -0.584269 m/s,
      LOS rate: -0.074532 deg/s,
      cmd heading: 238.478377 deg,
      new cmd heading: 238.382189 deg.

2025-06-25T20:50:52.136Z,1750884652.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160554 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:52.329Z,1750884652.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757666
2025-06-25T20:50:52.481Z,1750884652.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:52.484Z,1750884652.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 36.550205 m,
      bearing: 234.891113 deg,
      approach rate: -0.662292 m/s,
      LOS rate: -0.083177 deg/s,
      cmd heading: 238.382181 deg,
      new cmd heading: 238.293041 deg.

2025-06-25T20:50:52.485Z,1750884652.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158998 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:52.581Z,1750884652.581 [DAT](INFO): DAT read: Rx Time:20:50:53.3432

2025-06-25T20:50:52.581Z,1750884652.581 [DAT](INFO): Rx dataTimestamp_ set to:1750884652.581168
2025-06-25T20:50:52.582Z,1750884652.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010758
2025-06-25T20:50:52.833Z,1750884652.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261564
2025-06-25T20:50:52.877Z,1750884652.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.63 m.
2025-06-25T20:50:52.879Z,1750884652.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.628536 m,
      nav range: 36.305321 m,
      bearing: 234.861135 deg,
      approach rate: -0.619337 m/s,
      LOS rate: -0.076329 deg/s,
      cmd heading: 238.293033 deg,
      new cmd heading: 238.202492 deg.

2025-06-25T20:50:52.881Z,1750884652.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157418 target range: 38.628536 and range: 39.00 m.
2025-06-25T20:50:53.095Z,1750884653.095 [DAT](INFO): DAT read: 20:50:53.3432 LVL= 20240, 29873, 18098, 28019, AGC= 62, IDX= 421,-0.08, 1.156,-0.147, 1.276, 0.742, PHS= 0.502,-0.842, 0.530, RAW= 151.0,  -2.8, CAL= 155.0, -11.5, ROT= 355.0,  11.5

2025-06-25T20:50:53.096Z,1750884653.096 [DAT](INFO): got valid direction response:
 20:50:53.3432 LVL= 20240, 29873, 18098, 28019, AGC= 62, IDX= 421,-0.08, 1.156,-0.147, 1.276, 0.742, PHS= 0.502,-0.842, 0.530, RAW= 151.0,  -2.8, CAL= 155.0, -11.5, ROT= 355.0,  11.5

2025-06-25T20:50:53.097Z,1750884653.097 [DAT](INFO): DAT read: Bearing 355.0,  11.5 (Local)

2025-06-25T20:50:53.097Z,1750884653.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  11.5 (Local)

2025-06-25T20:50:53.105Z,1750884653.105 [DAT](INFO): DAT read: Range 10 to 50 : 36.9 m  (Round-trip  49.3 ms) speed  0.5 m/s

2025-06-25T20:50:53.112Z,1750884653.112 [DAT](INFO): DAT read: user:735>

2025-06-25T20:50:53.113Z,1750884653.113 [DAT](INFO): DAT read: Tx time:20:50:54.4398

2025-06-25T20:50:53.113Z,1750884653.113 [DAT](INFO): Ping request sent.
2025-06-25T20:50:53.113Z,1750884653.113 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:53.114Z,1750884653.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:50:53.115Z,1750884653.115 [DAT](INFO): direction in FSK: [0.976196,-0.085406,-0.199368]
2025-06-25T20:50:53.115Z,1750884653.115 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:53.115Z,1750884653.115 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:53.134Z,1750884653.134 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:53.134Z,1750884653.134 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:53.170Z,1750884653.170 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.056323
2025-06-25T20:50:53.337Z,1750884653.337 [DAT](INFO): DAT read: TxSync time:20:50:54.4390

2025-06-25T20:50:53.338Z,1750884653.338 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.224734
2025-06-25T20:50:53.382Z,1750884653.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.900002 m,
      deltaT: 3.530016 s,
      deltaX: -2.099998 m,
      approachRate: -0.594898 m/s,
      rangeRepo size: 4

2025-06-25T20:50:53.388Z,1750884653.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.548542 m,
      bearing: 236.807683 deg,
      lat: 36.906232 deg,
      lon: -122.116353 deg,
      deltaT: 3.530016 s,
      deltaX: -2.079994 m,
      approachRate: -0.589231 m/s,
      posRepo size: 4

2025-06-25T20:50:53.389Z,1750884653.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:53.396Z,1750884653.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 36.160446 m,
      bearing: 235.183305 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076329 deg/s,
      cmd heading: 238.202492 deg,
      new cmd heading: 238.086902 deg.

2025-06-25T20:50:53.397Z,1750884653.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155400 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:53.589Z,1750884653.589 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.475554
2025-06-25T20:50:53.698Z,1750884653.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:53.701Z,1750884653.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:53.703Z,1750884653.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 35.951286 m,
      bearing: 235.153435 deg,
      approach rate: -0.654994 m/s,
      LOS rate: -0.094086 deg/s,
      cmd heading: 238.086898 deg,
      new cmd heading: 237.996765 deg.

2025-06-25T20:50:53.705Z,1750884653.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153827 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:53.841Z,1750884653.841 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.727477
2025-06-25T20:50:54.094Z,1750884654.094 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.980506
2025-06-25T20:50:54.146Z,1750884654.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:54.149Z,1750884654.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 35.670544 m,
      bearing: 235.108831 deg,
      approach rate: -0.629859 m/s,
      LOS rate: -0.100859 deg/s,
      cmd heading: 237.996767 deg,
      new cmd heading: 237.861902 deg.

2025-06-25T20:50:54.150Z,1750884654.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151474 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:54.345Z,1750884654.345 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.231758
2025-06-25T20:50:54.511Z,1750884654.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:54.518Z,1750884654.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 35.441689 m,
      bearing: 235.072759 deg,
      approach rate: -0.628369 m/s,
      LOS rate: -0.099682 deg/s,
      cmd heading: 237.861912 deg,
      new cmd heading: 237.752997 deg.

2025-06-25T20:50:54.519Z,1750884654.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149573 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:54.598Z,1750884654.598 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.484231
2025-06-25T20:50:54.849Z,1750884654.849 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.735533
2025-06-25T20:50:54.948Z,1750884654.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:54.951Z,1750884654.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 35.169273 m,
      bearing: 235.029207 deg,
      approach rate: -0.622891 m/s,
      LOS rate: -0.100355 deg/s,
      cmd heading: 237.753011 deg,
      new cmd heading: 237.621343 deg.

2025-06-25T20:50:54.952Z,1750884654.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147275 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:55.101Z,1750884655.101 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.987714
2025-06-25T20:50:55.335Z,1750884655.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:55.339Z,1750884655.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 34.926815 m,
      bearing: 234.993295 deg,
      approach rate: -0.626226 m/s,
      LOS rate: -0.093397 deg/s,
      cmd heading: 237.621352 deg,
      new cmd heading: 237.512870 deg.

2025-06-25T20:50:55.341Z,1750884655.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145381 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:55.353Z,1750884655.353 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.239376
2025-06-25T20:50:55.605Z,1750884655.605 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.491454
2025-06-25T20:50:55.726Z,1750884655.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:55.728Z,1750884655.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:55.731Z,1750884655.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 34.679352 m,
      bearing: 234.956588 deg,
      approach rate: -0.630086 m/s,
      LOS rate: -0.094130 deg/s,
      cmd heading: 237.512862 deg,
      new cmd heading: 237.401954 deg.

2025-06-25T20:50:55.732Z,1750884655.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143446 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:55.857Z,1750884655.857 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.743491
2025-06-25T20:50:56.109Z,1750884656.109 [DAT](INFO): DAT read: Rx Time:20:50:56.8903

2025-06-25T20:50:56.109Z,1750884656.109 [DAT](INFO): Rx dataTimestamp_ set to:1750884656.108964
2025-06-25T20:50:56.110Z,1750884656.110 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.996530
2025-06-25T20:50:56.172Z,1750884656.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:56.175Z,1750884656.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 34.416626 m,
      bearing: 234.920961 deg,
      approach rate: -0.596978 m/s,
      LOS rate: -0.081571 deg/s,
      cmd heading: 237.401967 deg,
      new cmd heading: 237.294270 deg.

2025-06-25T20:50:56.180Z,1750884656.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141566 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:56.365Z,1750884656.365 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.250908
2025-06-25T20:50:56.533Z,1750884656.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.55 m.
2025-06-25T20:50:56.536Z,1750884656.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.548542 m,
      nav range: 34.173500 m,
      bearing: 234.887910 deg,
      approach rate: -0.665996 m/s,
      LOS rate: -0.091181 deg/s,
      cmd heading: 237.294268 deg,
      new cmd heading: 237.194410 deg.

2025-06-25T20:50:56.537Z,1750884656.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139823 target range: 36.548542 and range: 36.90 m.
2025-06-25T20:50:56.635Z,1750884656.635 [DAT](INFO): DAT read: 20:50:56.8904 LVL= 19536, 29617, 18882, 30963, AGC= 62, IDX= 407,-0.16,-2.325, 2.531,-2.228,-2.765, PHS= 0.528,-0.939, 0.534, RAW= 150.2,  -1.7, CAL= 153.9, -10.5, ROT= 356.1,  10.5

2025-06-25T20:50:56.641Z,1750884656.641 [DAT](INFO): got valid direction response:
 20:50:56.8904 LVL= 19536, 29617, 18882, 30963, AGC= 62, IDX= 407,-0.16,-2.325, 2.531,-2.228,-2.765, PHS= 0.528,-0.939, 0.534, RAW= 150.2,  -1.7, CAL= 153.9, -10.5, ROT= 356.1,  10.5

2025-06-25T20:50:56.642Z,1750884656.642 [DAT](INFO): DAT read: Bearing 356.1,  10.5 (Local)

2025-06-25T20:50:56.642Z,1750884656.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  10.5 (Local)

2025-06-25T20:50:56.649Z,1750884656.649 [DAT](INFO): DAT read: Range 10 to 50 : 34.7 m  (Round-trip  46.3 ms) speed  0.6 m/s

2025-06-25T20:50:56.650Z,1750884656.650 [DAT](INFO): DAT read: user:736>

2025-06-25T20:50:56.651Z,1750884656.651 [DAT](INFO): DAT read: Tx time:20:50:57.9899

2025-06-25T20:50:56.656Z,1750884656.656 [DAT](INFO): Ping request sent.
2025-06-25T20:50:56.656Z,1750884656.656 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:50:56.656Z,1750884656.656 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-25T20:50:56.658Z,1750884656.658 [DAT](INFO): direction in FSK: [0.980978,-0.066876,-0.182236]
2025-06-25T20:50:56.658Z,1750884656.658 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:56.659Z,1750884656.659 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:56.670Z,1750884656.670 [DAT](INFO): publishing transmit ping time
2025-06-25T20:50:56.670Z,1750884656.670 [DAT](INFO): publishing direction and range info
2025-06-25T20:50:56.695Z,1750884656.695 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.043029
2025-06-25T20:50:56.865Z,1750884656.865 [DAT](INFO): DAT read: TxSync time:20:50:57.9891

2025-06-25T20:50:56.866Z,1750884656.866 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.214189
2025-06-25T20:50:56.942Z,1750884656.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 3.527594 s,
      deltaX: -2.200001 m,
      approachRate: -0.623655 m/s,
      rangeRepo size: 4

2025-06-25T20:50:56.944Z,1750884656.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.369503 m,
      bearing: 237.125664 deg,
      lat: 36.906241 deg,
      lon: -122.116358 deg,
      deltaT: 3.527594 s,
      deltaX: -2.179039 m,
      approachRate: -0.617712 m/s,
      posRepo size: 4

2025-06-25T20:50:56.945Z,1750884656.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:56.948Z,1750884656.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 33.816666 m,
      bearing: 236.584370 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091181 deg/s,
      cmd heading: 237.194411 deg,
      new cmd heading: 237.082699 deg.

2025-06-25T20:50:56.949Z,1750884656.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137874 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:57.117Z,1750884657.117 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.465330
2025-06-25T20:50:57.369Z,1750884657.369 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.717397
2025-06-25T20:50:57.376Z,1750884657.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:57.379Z,1750884657.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 33.542950 m,
      bearing: 236.563923 deg,
      approach rate: -0.629778 m/s,
      LOS rate: -0.047430 deg/s,
      cmd heading: 237.082696 deg,
      new cmd heading: 237.020854 deg.

2025-06-25T20:50:57.380Z,1750884657.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136794 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:57.621Z,1750884657.621 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.969162
2025-06-25T20:50:57.737Z,1750884657.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:57.739Z,1750884657.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:57.742Z,1750884657.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 33.314949 m,
      bearing: 236.546926 deg,
      approach rate: -0.628563 m/s,
      LOS rate: -0.047179 deg/s,
      cmd heading: 237.020842 deg,
      new cmd heading: 236.969502 deg.

2025-06-25T20:50:57.743Z,1750884657.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135898 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:57.874Z,1750884657.874 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.221651
2025-06-25T20:50:58.125Z,1750884658.125 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.473291
2025-06-25T20:50:58.177Z,1750884658.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:58.184Z,1750884658.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 33.053410 m,
      bearing: 236.532872 deg,
      approach rate: -0.596844 m/s,
      LOS rate: -0.032324 deg/s,
      cmd heading: 236.969506 deg,
      new cmd heading: 236.927012 deg.

2025-06-25T20:50:58.185Z,1750884658.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135157 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:58.377Z,1750884658.377 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.725618
2025-06-25T20:50:58.550Z,1750884658.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:58.553Z,1750884658.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 32.813107 m,
      bearing: 236.520627 deg,
      approach rate: -0.644496 m/s,
      LOS rate: -0.033083 deg/s,
      cmd heading: 236.927023 deg,
      new cmd heading: 236.890017 deg.

2025-06-25T20:50:58.554Z,1750884658.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134511 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:58.630Z,1750884658.630 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.977919
2025-06-25T20:50:58.881Z,1750884658.881 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.229333
2025-06-25T20:50:58.955Z,1750884658.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:58.958Z,1750884658.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 32.561890 m,
      bearing: 236.508671 deg,
      approach rate: -0.620132 m/s,
      LOS rate: -0.029741 deg/s,
      cmd heading: 236.890030 deg,
      new cmd heading: 236.853886 deg.

2025-06-25T20:50:58.959Z,1750884658.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133880 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:59.133Z,1750884659.133 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.481303
2025-06-25T20:50:59.385Z,1750884659.385 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.733324
2025-06-25T20:50:59.391Z,1750884659.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:59.394Z,1750884659.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 32.292007 m,
      bearing: 236.499747 deg,
      approach rate: -0.619273 m/s,
      LOS rate: -0.020647 deg/s,
      cmd heading: 236.853885 deg,
      new cmd heading: 236.826890 deg.

2025-06-25T20:50:59.395Z,1750884659.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133409 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:59.638Z,1750884659.638 [DAT](INFO): DAT read: Rx Time:20:51:00.4374

2025-06-25T20:50:59.638Z,1750884659.638 [DAT](INFO): Rx dataTimestamp_ set to:1750884659.637741
2025-06-25T20:50:59.639Z,1750884659.639 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.987373
2025-06-25T20:50:59.767Z,1750884659.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:50:59.770Z,1750884659.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.37 m.
2025-06-25T20:50:59.773Z,1750884659.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.369503 m,
      nav range: 32.055729 m,
      bearing: 236.491870 deg,
      approach rate: -0.623530 m/s,
      LOS rate: -0.020941 deg/s,
      cmd heading: 236.826892 deg,
      new cmd heading: 236.803086 deg.

2025-06-25T20:50:59.774Z,1750884659.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132994 target range: 34.369503 and range: 34.70 m.
2025-06-25T20:50:59.889Z,1750884659.889 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.237220
2025-06-25T20:51:00.162Z,1750884660.162 [DAT](INFO): DAT read: 20:51:00.4374 LVL= 21968, 29425, 19490, 29043, AGC= 60, IDX= 408,-0.06, 0.000,-1.423, 0.043,-0.480, PHS= 0.568,-0.896, 0.520, RAW= 148.4,  -2.7, CAL= 152.6, -11.5, ROT= 357.4,  11.5

2025-06-25T20:51:00.166Z,1750884660.166 [DAT](INFO): got valid direction response:
 20:51:00.4374 LVL= 21968, 29425, 19490, 29043, AGC= 60, IDX= 408,-0.06, 0.000,-1.423, 0.043,-0.480, PHS= 0.568,-0.896, 0.520, RAW= 148.4,  -2.7, CAL= 152.6, -11.5, ROT= 357.4,  11.5

2025-06-25T20:51:00.192Z,1750884660.192 [DAT](INFO): DAT read: Bearing 357.4,  11.5 (Local)

2025-06-25T20:51:00.192Z,1750884660.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  11.5 (Local)

2025-06-25T20:51:00.194Z,1750884660.194 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m  (Round-trip  43.3 ms) speed  0.5 m/s

2025-06-25T20:51:00.195Z,1750884660.195 [DAT](INFO): DAT read: user:737>

2025-06-25T20:51:00.195Z,1750884660.195 [DAT](INFO): DAT read: Tx time:20:51:01.5399

2025-06-25T20:51:00.196Z,1750884660.196 [DAT](INFO): Ping request sent.
2025-06-25T20:51:00.196Z,1750884660.196 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:00.196Z,1750884660.196 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-25T20:51:00.197Z,1750884660.197 [DAT](INFO): direction in FSK: [0.978916,-0.044452,-0.199368]
2025-06-25T20:51:00.198Z,1750884660.198 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:00.198Z,1750884660.198 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:00.205Z,1750884660.205 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:00.205Z,1750884660.205 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:00.213Z,1750884660.213 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.016872
2025-06-25T20:51:00.341Z,1750884660.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 3.527939 s,
      deltaX: -2.299999 m,
      approachRate: -0.651938 m/s,
      rangeRepo size: 4

2025-06-25T20:51:00.343Z,1750884660.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.091454 m,
      bearing: 237.850604 deg,
      lat: 36.906242 deg,
      lon: -122.116362 deg,
      deltaT: 3.527939 s,
      deltaX: -2.278049 m,
      approachRate: -0.645717 m/s,
      posRepo size: 4

2025-06-25T20:51:00.348Z,1750884660.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:00.351Z,1750884660.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 31.918537 m,
      bearing: 237.047898 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020941 deg/s,
      cmd heading: 236.803096 deg,
      new cmd heading: 236.767780 deg.

2025-06-25T20:51:00.358Z,1750884660.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132377 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:00.394Z,1750884660.394 [DAT](INFO): DAT read: TxSync time:20:51:01.5391

2025-06-25T20:51:00.395Z,1750884660.395 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.198859
2025-06-25T20:51:00.637Z,1750884660.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:00.643Z,1750884660.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 31.722719 m,
      bearing: 237.041775 deg,
      approach rate: -0.641605 m/s,
      LOS rate: -0.020184 deg/s,
      cmd heading: 236.767770 deg,
      new cmd heading: 236.749289 deg.

2025-06-25T20:51:00.646Z,1750884660.646 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.449154
2025-06-25T20:51:00.647Z,1750884660.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132055 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:00.897Z,1750884660.897 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.700691
2025-06-25T20:51:01.031Z,1750884661.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:01.034Z,1750884661.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 31.478893 m,
      bearing: 237.034981 deg,
      approach rate: -0.618540 m/s,
      LOS rate: -0.017369 deg/s,
      cmd heading: 236.749301 deg,
      new cmd heading: 236.728761 deg.

2025-06-25T20:51:01.035Z,1750884661.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131696 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:01.150Z,1750884661.150 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.953623
2025-06-25T20:51:01.401Z,1750884661.401 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.204673
2025-06-25T20:51:01.471Z,1750884661.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:01.475Z,1750884661.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 31.199753 m,
      bearing: 237.027396 deg,
      approach rate: -0.634328 m/s,
      LOS rate: -0.017391 deg/s,
      cmd heading: 236.728756 deg,
      new cmd heading: 236.705797 deg.

2025-06-25T20:51:01.476Z,1750884661.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131296 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:01.653Z,1750884661.653 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.457132
2025-06-25T20:51:01.850Z,1750884661.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:01.853Z,1750884661.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:01.855Z,1750884661.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 30.965786 m,
      bearing: 237.021424 deg,
      approach rate: -0.613439 m/s,
      LOS rate: -0.015777 deg/s,
      cmd heading: 236.705806 deg,
      new cmd heading: 236.687754 deg.

2025-06-25T20:51:01.857Z,1750884661.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130980 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:01.906Z,1750884661.906 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.709970
2025-06-25T20:51:02.157Z,1750884662.157 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.960811
2025-06-25T20:51:02.297Z,1750884662.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:02.305Z,1750884662.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 30.696173 m,
      bearing: 237.014123 deg,
      approach rate: -0.606916 m/s,
      LOS rate: -0.016578 deg/s,
      cmd heading: 236.687747 deg,
      new cmd heading: 236.665654 deg.

2025-06-25T20:51:02.306Z,1750884662.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130595 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:02.409Z,1750884662.409 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.213259
2025-06-25T20:51:02.662Z,1750884662.662 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.465492
2025-06-25T20:51:02.665Z,1750884662.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:02.667Z,1750884662.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 30.452467 m,
      bearing: 237.006945 deg,
      approach rate: -0.662699 m/s,
      LOS rate: -0.019676 deg/s,
      cmd heading: 236.665645 deg,
      new cmd heading: 236.643937 deg.

2025-06-25T20:51:02.669Z,1750884662.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130216 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:02.913Z,1750884662.913 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.716629
2025-06-25T20:51:03.064Z,1750884663.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:03.067Z,1750884663.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 30.197641 m,
      bearing: 236.999680 deg,
      approach rate: -0.638361 m/s,
      LOS rate: -0.018352 deg/s,
      cmd heading: 236.643925 deg,
      new cmd heading: 236.621947 deg.

2025-06-25T20:51:03.068Z,1750884663.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129832 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:03.167Z,1750884663.167 [DAT](INFO): DAT read: Rx Time:20:51:03.9844

2025-06-25T20:51:03.170Z,1750884663.170 [DAT](INFO): Rx dataTimestamp_ set to:1750884663.169095
2025-06-25T20:51:03.170Z,1750884663.170 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.974364
2025-06-25T20:51:03.417Z,1750884663.417 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.220703
2025-06-25T20:51:03.498Z,1750884663.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:03.505Z,1750884663.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 29.922771 m,
      bearing: 236.986875 deg,
      approach rate: -0.633037 m/s,
      LOS rate: -0.029762 deg/s,
      cmd heading: 236.621959 deg,
      new cmd heading: 236.583191 deg.

2025-06-25T20:51:03.506Z,1750884663.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129156 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:03.672Z,1750884663.672 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.475157
2025-06-25T20:51:03.865Z,1750884663.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:03.867Z,1750884663.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m.
2025-06-25T20:51:03.870Z,1750884663.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.091454 m,
      nav range: 29.687860 m,
      bearing: 236.976896 deg,
      approach rate: -0.637010 m/s,
      LOS rate: -0.027276 deg/s,
      cmd heading: 236.583191 deg,
      new cmd heading: 236.553015 deg.

2025-06-25T20:51:03.871Z,1750884663.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128629 target range: 32.091454 and range: 32.40 m.
2025-06-25T20:51:03.930Z,1750884663.930 [DAT](INFO): DAT read: 20:51:03.9844 LVL= 23440, 31889, 19698, 32307, AGC= 60, IDX= 410,-0.15,-3.068, 1.888,-3.136, 2.765, PHS= 0.538,-0.830, 0.380, RAW= 143.9,  -1.4, CAL= 148.3, -10.5, ROT=   1.7,  10.5

2025-06-25T20:51:03.931Z,1750884663.931 [DAT](INFO): got valid direction response:
 20:51:03.9844 LVL= 23440, 31889, 19698, 32307, AGC= 60, IDX= 410,-0.15,-3.068, 1.888,-3.136, 2.765, PHS= 0.538,-0.830, 0.380, RAW= 143.9,  -1.4, CAL= 148.3, -10.5, ROT=   1.7,  10.5

2025-06-25T20:51:03.934Z,1750884663.934 [DAT](INFO): DAT read: Bearing   1.7,  10.5 (Local)

2025-06-25T20:51:03.934Z,1750884663.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  10.5 (Local)

2025-06-25T20:51:03.939Z,1750884663.939 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m  (Round-trip  40.4 ms) speed  0.7 m/s

2025-06-25T20:51:03.944Z,1750884663.944 [DAT](INFO): DAT read: user:738>

2025-06-25T20:51:03.945Z,1750884663.945 [DAT](INFO): DAT read: Tx time:20:51:05.0899

2025-06-25T20:51:03.945Z,1750884663.945 [DAT](INFO): Ping request sent.
2025-06-25T20:51:03.945Z,1750884663.945 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:03.946Z,1750884663.946 [DAT](INFO): DAT read: TxSync time:20:51:05.0891

2025-06-25T20:51:03.946Z,1750884663.946 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-25T20:51:03.956Z,1750884663.956 [DAT](INFO): direction in FSK: [0.982822,0.029169,-0.182236]
2025-06-25T20:51:03.957Z,1750884663.957 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:03.957Z,1750884663.957 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:03.965Z,1750884663.965 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:03.966Z,1750884663.966 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:03.978Z,1750884663.978 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.032797
2025-06-25T20:51:04.173Z,1750884664.173 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.227534
2025-06-25T20:51:04.312Z,1750884664.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 3.778998 s,
      deltaX: -2.100002 m,
      approachRate: -0.555703 m/s,
      rangeRepo size: 4

2025-06-25T20:51:04.314Z,1750884664.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.011438 m,
      bearing: 241.308349 deg,
      lat: 36.906247 deg,
      lon: -122.116362 deg,
      deltaT: 3.778998 s,
      deltaX: -2.080015 m,
      approachRate: -0.550414 m/s,
      posRepo size: 4

2025-06-25T20:51:04.315Z,1750884664.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:04.318Z,1750884664.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 29.138041 m,
      bearing: 237.803984 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027276 deg/s,
      cmd heading: 236.553001 deg,
      new cmd heading: 236.516647 deg.

2025-06-25T20:51:04.319Z,1750884664.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127994 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:04.425Z,1750884664.425 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.480046
2025-06-25T20:51:04.677Z,1750884664.677 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.731249
2025-06-25T20:51:04.697Z,1750884664.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:04.700Z,1750884664.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 28.890974 m,
      bearing: 237.801973 deg,
      approach rate: -0.639961 m/s,
      LOS rate: -0.005255 deg/s,
      cmd heading: 236.516638 deg,
      new cmd heading: 236.510551 deg.

2025-06-25T20:51:04.701Z,1750884664.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127888 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:04.929Z,1750884664.929 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.983409
2025-06-25T20:51:05.079Z,1750884665.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:05.082Z,1750884665.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 28.649202 m,
      bearing: 237.802411 deg,
      approach rate: -0.633223 m/s,
      LOS rate: 0.001158 deg/s,
      cmd heading: 236.510545 deg,
      new cmd heading: 236.511871 deg.

2025-06-25T20:51:05.083Z,1750884665.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127911 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:05.185Z,1750884665.185 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.238968
2025-06-25T20:51:05.433Z,1750884665.433 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.487344
2025-06-25T20:51:05.514Z,1750884665.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:05.521Z,1750884665.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 28.388847 m,
      bearing: 237.797747 deg,
      approach rate: -0.598088 m/s,
      LOS rate: -0.010812 deg/s,
      cmd heading: 236.511884 deg,
      new cmd heading: 236.497763 deg.

2025-06-25T20:51:05.522Z,1750884665.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127665 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:05.685Z,1750884665.685 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.739376
2025-06-25T20:51:05.880Z,1750884665.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:05.882Z,1750884665.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:05.885Z,1750884665.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 28.145887 m,
      bearing: 237.793511 deg,
      approach rate: -0.660756 m/s,
      LOS rate: -0.011620 deg/s,
      cmd heading: 236.497759 deg,
      new cmd heading: 236.484941 deg.

2025-06-25T20:51:05.886Z,1750884665.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127441 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:05.938Z,1750884665.938 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.991851
2025-06-25T20:51:06.191Z,1750884666.191 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.245385
2025-06-25T20:51:06.315Z,1750884666.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:06.318Z,1750884666.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 27.873383 m,
      bearing: 237.794368 deg,
      approach rate: -0.629277 m/s,
      LOS rate: 0.002000 deg/s,
      cmd heading: 236.484945 deg,
      new cmd heading: 236.487544 deg.

2025-06-25T20:51:06.319Z,1750884666.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127486 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:06.441Z,1750884666.441 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.495373
2025-06-25T20:51:06.693Z,1750884666.693 [DAT](INFO): DAT read: Rx Time:20:51:07.5314

2025-06-25T20:51:06.693Z,1750884666.693 [DAT](INFO): Rx dataTimestamp_ set to:1750884666.693112
2025-06-25T20:51:06.694Z,1750884666.694 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.748560
2025-06-25T20:51:06.697Z,1750884666.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:06.700Z,1750884666.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 27.634699 m,
      bearing: 237.795291 deg,
      approach rate: -0.624885 m/s,
      LOS rate: 0.002435 deg/s,
      cmd heading: 236.487541 deg,
      new cmd heading: 236.490332 deg.

2025-06-25T20:51:06.701Z,1750884666.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127535 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:06.945Z,1750884666.945 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.999621
2025-06-25T20:51:07.107Z,1750884667.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m.
2025-06-25T20:51:07.115Z,1750884667.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.011438 m,
      nav range: 27.384762 m,
      bearing: 237.796669 deg,
      approach rate: -0.609002 m/s,
      LOS rate: 0.003389 deg/s,
      cmd heading: 236.490328 deg,
      new cmd heading: 236.494500 deg.

2025-06-25T20:51:07.120Z,1750884667.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127608 target range: 30.011438 and range: 30.30 m.
2025-06-25T20:51:07.202Z,1750884667.202 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.255446
2025-06-25T20:51:07.458Z,1750884667.458 [DAT](INFO): DAT read: 20:51:07.5315 LVL= 21360, 28097, 20450, 29827, AGC= 58, IDX= 411,-0.15, 2.950, 1.566, 2.831, 2.459, PHS= 0.579,-0.847, 0.368, RAW= 142.1,  -1.5, CAL= 146.7, -10.7, ROT=   3.3,  10.7

2025-06-25T20:51:07.459Z,1750884667.459 [DAT](INFO): got valid direction response:
 20:51:07.5315 LVL= 21360, 28097, 20450, 29827, AGC= 58, IDX= 411,-0.15, 2.950, 1.566, 2.831, 2.459, PHS= 0.579,-0.847, 0.368, RAW= 142.1,  -1.5, CAL= 146.7, -10.7, ROT=   3.3,  10.7

2025-06-25T20:51:07.470Z,1750884667.470 [DAT](INFO): DAT read: Bearing   3.3,  10.7 (Local)

2025-06-25T20:51:07.470Z,1750884667.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  10.7 (Local)

2025-06-25T20:51:07.472Z,1750884667.472 [DAT](INFO): DAT read: Range 10 to 50 : 28.0 m  (Round-trip  37.4 ms) speed  0.5 m/s

2025-06-25T20:51:07.472Z,1750884667.472 [DAT](INFO): DAT read: user:739>

2025-06-25T20:51:07.473Z,1750884667.473 [DAT](INFO): DAT read: Tx time:20:51:08.6400

2025-06-25T20:51:07.473Z,1750884667.473 [DAT](INFO): Ping request sent.
2025-06-25T20:51:07.474Z,1750884667.474 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:07.474Z,1750884667.474 [DAT](INFO): DAT read: TxSync time:20:51:08.6392

2025-06-25T20:51:07.475Z,1750884667.475 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-25T20:51:07.496Z,1750884667.496 [DAT](INFO): direction in FSK: [0.980983,0.056563,-0.185667]
2025-06-25T20:51:07.496Z,1750884667.496 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:07.496Z,1750884667.496 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:07.499Z,1750884667.499 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:07.508Z,1750884667.508 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:07.511Z,1750884667.511 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.037563
2025-06-25T20:51:07.650Z,1750884667.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.000000 m,
      deltaT: 3.527273 s,
      deltaX: -2.299999 m,
      approachRate: -0.652062 m/s,
      rangeRepo size: 4

2025-06-25T20:51:07.657Z,1750884667.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.733355 m,
      bearing: 242.428662 deg,
      lat: 36.906247 deg,
      lon: -122.116362 deg,
      deltaT: 3.527273 s,
      deltaX: -2.278084 m,
      approachRate: -0.645848 m/s,
      posRepo size: 4

2025-06-25T20:51:07.658Z,1750884667.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:07.666Z,1750884667.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 27.095524 m,
      bearing: 237.840471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003389 deg/s,
      cmd heading: 236.494508 deg,
      new cmd heading: 236.499964 deg.

2025-06-25T20:51:07.667Z,1750884667.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127703 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:07.701Z,1750884667.701 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.227243
2025-06-25T20:51:07.953Z,1750884667.953 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.479359
2025-06-25T20:51:07.956Z,1750884667.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:51:07.971Z,1750884667.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:07.977Z,1750884667.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:07.984Z,1750884667.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 26.869047 m,
      bearing: 237.847256 deg,
      approach rate: -0.679945 m/s,
      LOS rate: 0.020543 deg/s,
      cmd heading: 236.499972 deg,
      new cmd heading: 236.520499 deg.

2025-06-25T20:51:07.985Z,1750884667.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128061 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:08.208Z,1750884668.208 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.734086
2025-06-25T20:51:08.382Z,1750884668.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:08.385Z,1750884668.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 26.610655 m,
      bearing: 237.854510 deg,
      approach rate: -0.637820 m/s,
      LOS rate: 0.018079 deg/s,
      cmd heading: 236.520490 deg,
      new cmd heading: 236.542462 deg.

2025-06-25T20:51:08.386Z,1750884668.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128445 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:08.458Z,1750884668.458 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.983991
2025-06-25T20:51:08.709Z,1750884668.709 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.235200
2025-06-25T20:51:08.774Z,1750884668.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:08.778Z,1750884668.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 26.366135 m,
      bearing: 237.861967 deg,
      approach rate: -0.624881 m/s,
      LOS rate: 0.019235 deg/s,
      cmd heading: 236.542456 deg,
      new cmd heading: 236.565036 deg.

2025-06-25T20:51:08.778Z,1750884668.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128839 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:08.961Z,1750884668.961 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.487090
2025-06-25T20:51:08.962Z,1750884668.962 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:51:09.215Z,1750884669.215 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.741225
2025-06-25T20:51:09.217Z,1750884669.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:09.227Z,1750884669.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 26.114758 m,
      bearing: 237.869747 deg,
      approach rate: -0.578831 m/s,
      LOS rate: 0.018086 deg/s,
      cmd heading: 236.565023 deg,
      new cmd heading: 236.588586 deg.

2025-06-25T20:51:09.231Z,1750884669.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129250 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:09.465Z,1750884669.465 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.991159
2025-06-25T20:51:09.594Z,1750884669.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:09.601Z,1750884669.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 25.855040 m,
      bearing: 237.886254 deg,
      approach rate: -0.672653 m/s,
      LOS rate: 0.043183 deg/s,
      cmd heading: 236.588573 deg,
      new cmd heading: 236.638593 deg.

2025-06-25T20:51:09.602Z,1750884669.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130123 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:09.717Z,1750884669.717 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.243173
2025-06-25T20:51:09.967Z,1750884669.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:09.969Z,1750884669.969 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.495301
2025-06-25T20:51:09.971Z,1750884669.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 25.611706 m,
      bearing: 237.902603 deg,
      approach rate: -0.653203 m/s,
      LOS rate: 0.044303 deg/s,
      cmd heading: 236.638597 deg,
      new cmd heading: 236.688109 deg.

2025-06-25T20:51:09.972Z,1750884669.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130987 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:10.223Z,1750884670.223 [DAT](INFO): DAT read: Rx Time:20:51:11.0786

2025-06-25T20:51:10.225Z,1750884670.225 [DAT](INFO): Rx dataTimestamp_ set to:1750884670.224104
2025-06-25T20:51:10.227Z,1750884670.227 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.752917
2025-06-25T20:51:10.410Z,1750884670.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:10.413Z,1750884670.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:10.416Z,1750884670.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 25.331999 m,
      bearing: 237.929548 deg,
      approach rate: -0.626720 m/s,
      LOS rate: 0.061041 deg/s,
      cmd heading: 236.688103 deg,
      new cmd heading: 236.769831 deg.

2025-06-25T20:51:10.417Z,1750884670.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132413 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:10.474Z,1750884670.474 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.999950
2025-06-25T20:51:10.725Z,1750884670.725 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.251152
2025-06-25T20:51:10.829Z,1750884670.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.73 m.
2025-06-25T20:51:10.832Z,1750884670.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.733355 m,
      nav range: 25.070864 m,
      bearing: 237.956500 deg,
      approach rate: -0.627591 m/s,
      LOS rate: 0.065449 deg/s,
      cmd heading: 236.769819 deg,
      new cmd heading: 236.851518 deg.

2025-06-25T20:51:10.833Z,1750884670.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133839 target range: 27.733355 and range: 28.00 m.
2025-06-25T20:51:10.983Z,1750884670.983 [DAT](INFO): DAT read: 20:51:11.0786 LVL= 20064, 32753, 21074, 32755, AGC= 60, IDX= 412, 0.47,-0.877,-2.334,-1.029,-1.401, PHS= 0.612,-0.886, 0.369, RAW= 141.3,  -1.4, CAL= 146.0, -10.5, ROT=   4.0,  10.5

2025-06-25T20:51:10.984Z,1750884670.984 [DAT](INFO): got valid direction response:
 20:51:11.0786 LVL= 20064, 32753, 21074, 32755, AGC= 60, IDX= 412, 0.47,-0.877,-2.334,-1.029,-1.401, PHS= 0.612,-0.886, 0.369, RAW= 141.3,  -1.4, CAL= 146.0, -10.5, ROT=   4.0,  10.5

2025-06-25T20:51:10.985Z,1750884670.985 [DAT](INFO): DAT read: Bearing   4.0,  10.5 (Local)

2025-06-25T20:51:10.985Z,1750884670.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.0,  10.5 (Local)

2025-06-25T20:51:10.987Z,1750884670.987 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m  (Round-trip  34.4 ms) speed  0.6 m/s

2025-06-25T20:51:10.987Z,1750884670.987 [DAT](INFO): DAT read: user:740>

2025-06-25T20:51:10.988Z,1750884670.988 [DAT](INFO): DAT read: Tx time:20:51:12.1916

2025-06-25T20:51:10.988Z,1750884670.988 [DAT](INFO): Ping request sent.
2025-06-25T20:51:10.988Z,1750884670.988 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:10.989Z,1750884670.989 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-25T20:51:10.990Z,1750884670.990 [DAT](INFO): direction in FSK: [0.980860,0.068588,-0.182236]
2025-06-25T20:51:10.990Z,1750884670.990 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:10.990Z,1750884670.990 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:10.994Z,1750884670.994 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:10.994Z,1750884670.994 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:11.005Z,1750884671.005 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.016362
2025-06-25T20:51:11.215Z,1750884671.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 3.528036 s,
      deltaX: -2.200001 m,
      approachRate: -0.623577 m/s,
      rangeRepo size: 4

2025-06-25T20:51:11.232Z,1750884671.232 [DAT](INFO): DAT read: TxSync time:20:51:12.1908

2025-06-25T20:51:11.235Z,1750884671.235 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.245567
2025-06-25T20:51:11.239Z,1750884671.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.554337 m,
      bearing: 242.570015 deg,
      lat: 36.906258 deg,
      lon: -122.116378 deg,
      deltaT: 3.528036 s,
      deltaX: -2.179018 m,
      approachRate: -0.617629 m/s,
      posRepo size: 4

2025-06-25T20:51:11.246Z,1750884671.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:11.268Z,1750884671.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 25.396278 m,
      bearing: 242.039215 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.065449 deg/s,
      cmd heading: 236.851508 deg,
      new cmd heading: 236.927238 deg.

2025-06-25T20:51:11.271Z,1750884671.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135160 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:11.481Z,1750884671.481 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492422
2025-06-25T20:51:11.628Z,1750884671.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:11.636Z,1750884671.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 25.142944 m,
      bearing: 242.105340 deg,
      approach rate: -0.619567 m/s,
      LOS rate: 0.163348 deg/s,
      cmd heading: 236.927241 deg,
      new cmd heading: 237.127614 deg.

2025-06-25T20:51:11.638Z,1750884671.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138658 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:11.734Z,1750884671.734 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.745303
2025-06-25T20:51:11.985Z,1750884671.985 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996313
2025-06-25T20:51:11.992Z,1750884671.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:11.995Z,1750884671.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 24.896906 m,
      bearing: 242.171962 deg,
      approach rate: -0.667931 m/s,
      LOS rate: 0.182650 deg/s,
      cmd heading: 237.127612 deg,
      new cmd heading: 237.329453 deg.

2025-06-25T20:51:11.996Z,1750884671.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142180 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:12.240Z,1750884672.240 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.250396
2025-06-25T20:51:12.422Z,1750884672.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:12.425Z,1750884672.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:12.427Z,1750884672.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 24.625336 m,
      bearing: 242.252131 deg,
      approach rate: -0.627625 m/s,
      LOS rate: 0.187320 deg/s,
      cmd heading: 237.329457 deg,
      new cmd heading: 237.572614 deg.

2025-06-25T20:51:12.429Z,1750884672.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146424 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:12.490Z,1750884672.490 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.501661
2025-06-25T20:51:12.741Z,1750884672.741 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752205
2025-06-25T20:51:12.829Z,1750884672.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:12.831Z,1750884672.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 24.376562 m,
      bearing: 242.326917 deg,
      approach rate: -0.615452 m/s,
      LOS rate: 0.186904 deg/s,
      cmd heading: 237.572612 deg,
      new cmd heading: 237.799258 deg.

2025-06-25T20:51:12.837Z,1750884672.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150380 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:12.993Z,1750884672.993 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004470
2025-06-25T20:51:13.198Z,1750884673.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:13.201Z,1750884673.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 24.140097 m,
      bearing: 242.399428 deg,
      approach rate: -0.640212 m/s,
      LOS rate: 0.198243 deg/s,
      cmd heading: 237.799265 deg,
      new cmd heading: 238.018930 deg.

2025-06-25T20:51:13.202Z,1750884673.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154214 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:13.245Z,1750884673.245 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256529
2025-06-25T20:51:13.497Z,1750884673.497 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.508134
2025-06-25T20:51:13.627Z,1750884673.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:13.631Z,1750884673.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 23.869259 m,
      bearing: 242.475216 deg,
      approach rate: -0.632041 m/s,
      LOS rate: 0.178868 deg/s,
      cmd heading: 238.018924 deg,
      new cmd heading: 238.248865 deg.

2025-06-25T20:51:13.633Z,1750884673.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158227 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:13.749Z,1750884673.749 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760317
2025-06-25T20:51:14.001Z,1750884674.001 [DAT](INFO): DAT read: Rx Time:20:51:14.6271

2025-06-25T20:51:14.001Z,1750884674.001 [DAT](INFO): Rx dataTimestamp_ set to:1750884674.001078
2025-06-25T20:51:14.002Z,1750884674.002 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013369
2025-06-25T20:51:14.041Z,1750884674.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:14.048Z,1750884674.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 23.619162 m,
      bearing: 242.546018 deg,
      approach rate: -0.602965 m/s,
      LOS rate: 0.172506 deg/s,
      cmd heading: 238.248855 deg,
      new cmd heading: 238.463510 deg.

2025-06-25T20:51:14.049Z,1750884674.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161973 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:14.257Z,1750884674.257 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.267805
2025-06-25T20:51:14.458Z,1750884674.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:14.460Z,1750884674.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m.
2025-06-25T20:51:14.463Z,1750884674.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.554337 m,
      nav range: 23.348677 m,
      bearing: 242.626291 deg,
      approach rate: -0.645535 m/s,
      LOS rate: 0.193797 deg/s,
      cmd heading: 238.463515 deg,
      new cmd heading: 238.707121 deg.

2025-06-25T20:51:14.464Z,1750884674.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166225 target range: 25.554337 and range: 25.80 m.
2025-06-25T20:51:14.512Z,1750884674.512 [DAT](INFO): DAT read: 20:51:14.6271 LVL= 20688, 29825, 21122, 32755, AGC= 57, IDX= 413, 0.47,-2.127, 2.782,-2.337,-2.656, PHS= 0.617,-0.798, 0.316, RAW= 138.3,  -2.1, CAL= 143.5, -11.4, ROT=   6.5,  11.4

2025-06-25T20:51:14.513Z,1750884674.513 [DAT](INFO): got valid direction response:
 20:51:14.6271 LVL= 20688, 29825, 21122, 32755, AGC= 57, IDX= 413, 0.47,-2.127, 2.782,-2.337,-2.656, PHS= 0.617,-0.798, 0.316, RAW= 138.3,  -2.1, CAL= 143.5, -11.4, ROT=   6.5,  11.4

2025-06-25T20:51:14.514Z,1750884674.514 [DAT](INFO): DAT read: Bearing   6.5,  11.4 (Local)

2025-06-25T20:51:14.515Z,1750884674.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  11.4 (Local)

2025-06-25T20:51:14.526Z,1750884674.526 [DAT](INFO): DAT read: Range 10 to 50 : 23.5 m  (Round-trip  31.4 ms) speed  0.6 m/s

2025-06-25T20:51:14.527Z,1750884674.527 [DAT](INFO): DAT read: user:741>

2025-06-25T20:51:14.533Z,1750884674.533 [DAT](INFO): DAT read: Tx time:20:51:15.7400

2025-06-25T20:51:14.533Z,1750884674.533 [DAT](INFO): Ping request sent.
2025-06-25T20:51:14.533Z,1750884674.533 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:14.534Z,1750884674.534 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-25T20:51:14.535Z,1750884674.535 [DAT](INFO): direction in FSK: [0.973970,0.110970,-0.197657]
2025-06-25T20:51:14.537Z,1750884674.537 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:14.537Z,1750884674.537 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:14.573Z,1750884674.573 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:14.573Z,1750884674.573 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:14.593Z,1750884674.593 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.059303
2025-06-25T20:51:14.757Z,1750884674.757 [DAT](INFO): DAT read: TxSync time:20:51:15.7392

2025-06-25T20:51:14.758Z,1750884674.758 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.224384
2025-06-25T20:51:14.845Z,1750884674.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.500000 m,
      deltaT: 3.529258 s,
      deltaX: -2.299999 m,
      approachRate: -0.651695 m/s,
      rangeRepo size: 4

2025-06-25T20:51:14.847Z,1750884674.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.276234 m,
      bearing: 245.202559 deg,
      lat: 36.906260 deg,
      lon: -122.116378 deg,
      deltaT: 3.529258 s,
      deltaX: -2.278103 m,
      approachRate: -0.645491 m/s,
      posRepo size: 4

2025-06-25T20:51:14.852Z,1750884674.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:14.854Z,1750884674.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 23.028650 m,
      bearing: 243.263757 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.193797 deg/s,
      cmd heading: 238.707134 deg,
      new cmd heading: 238.930109 deg.

2025-06-25T20:51:14.855Z,1750884674.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170117 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:15.009Z,1750884675.009 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.475245
2025-06-25T20:51:15.217Z,1750884675.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:15.219Z,1750884675.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 22.791603 m,
      bearing: 243.342324 deg,
      approach rate: -0.635839 m/s,
      LOS rate: 0.212936 deg/s,
      cmd heading: 238.930099 deg,
      new cmd heading: 239.168251 deg.

2025-06-25T20:51:15.221Z,1750884675.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174273 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:15.263Z,1750884675.263 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.729329
2025-06-25T20:51:15.514Z,1750884675.514 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.980728
2025-06-25T20:51:15.698Z,1750884675.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:15.706Z,1750884675.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 22.505926 m,
      bearing: 243.431737 deg,
      approach rate: -0.594216 m/s,
      LOS rate: 0.188341 deg/s,
      cmd heading: 239.168254 deg,
      new cmd heading: 239.439893 deg.

2025-06-25T20:51:15.707Z,1750884675.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179015 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:15.765Z,1750884675.765 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.231461
2025-06-25T20:51:16.017Z,1750884676.017 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.483410
2025-06-25T20:51:16.136Z,1750884676.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:16.139Z,1750884676.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 22.222252 m,
      bearing: 243.520166 deg,
      approach rate: -0.647485 m/s,
      LOS rate: 0.204415 deg/s,
      cmd heading: 239.439904 deg,
      new cmd heading: 239.708574 deg.

2025-06-25T20:51:16.140Z,1750884676.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183704 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:16.269Z,1750884676.269 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.735383
2025-06-25T20:51:16.521Z,1750884676.521 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.987313
2025-06-25T20:51:16.566Z,1750884676.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:16.568Z,1750884676.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:16.571Z,1750884676.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 21.956308 m,
      bearing: 243.595475 deg,
      approach rate: -0.614512 m/s,
      LOS rate: 0.176124 deg/s,
      cmd heading: 239.708576 deg,
      new cmd heading: 239.937240 deg.

2025-06-25T20:51:16.588Z,1750884676.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187695 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:16.773Z,1750884676.773 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.239263
2025-06-25T20:51:16.963Z,1750884676.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:16.966Z,1750884676.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 21.724941 m,
      bearing: 243.661067 deg,
      approach rate: -0.591543 m/s,
      LOS rate: 0.169487 deg/s,
      cmd heading: 239.937251 deg,
      new cmd heading: 240.136122 deg.

2025-06-25T20:51:16.967Z,1750884676.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191166 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:17.025Z,1750884677.025 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.491434
2025-06-25T20:51:17.277Z,1750884677.277 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.743222
2025-06-25T20:51:17.439Z,1750884677.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:17.446Z,1750884677.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 21.431734 m,
      bearing: 243.731534 deg,
      approach rate: -0.611097 m/s,
      LOS rate: 0.148875 deg/s,
      cmd heading: 240.136119 deg,
      new cmd heading: 240.350411 deg.

2025-06-25T20:51:17.447Z,1750884677.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194906 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:17.529Z,1750884677.529 [DAT](INFO): DAT read: Rx Time:20:51:18.1725

2025-06-25T20:51:17.530Z,1750884677.530 [DAT](INFO): Rx dataTimestamp_ set to:1750884677.529224
2025-06-25T20:51:17.530Z,1750884677.530 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.996560
2025-06-25T20:51:17.751Z,1750884677.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m.
2025-06-25T20:51:17.754Z,1750884677.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.276234 m,
      nav range: 21.222481 m,
      bearing: 243.781347 deg,
      approach rate: -0.670619 m/s,
      LOS rate: 0.161216 deg/s,
      cmd heading: 240.350423 deg,
      new cmd heading: 240.501335 deg.

2025-06-25T20:51:17.755Z,1750884677.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197540 target range: 23.276234 and range: 23.50 m.
2025-06-25T20:51:17.783Z,1750884677.783 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.249344
2025-06-25T20:51:18.044Z,1750884678.044 [DAT](INFO): DAT read: 20:51:18.1725 LVL= 23344, 32753, 21538, 32755, AGC= 57, IDX= 414, 0.35,-0.939,-2.469,-1.110,-1.483, PHS= 0.633,-0.939, 0.371, RAW= 141.0,  -0.9, CAL= 145.6, -10.0, ROT=   4.4,  10.0

2025-06-25T20:51:18.046Z,1750884678.046 [DAT](INFO): got valid direction response:
 20:51:18.1725 LVL= 23344, 32753, 21538, 32755, AGC= 57, IDX= 414, 0.35,-0.939,-2.469,-1.110,-1.483, PHS= 0.633,-0.939, 0.371, RAW= 141.0,  -0.9, CAL= 145.6, -10.0, ROT=   4.4,  10.0

2025-06-25T20:51:18.047Z,1750884678.047 [DAT](INFO): DAT read: Bearing   4.4,  10.0 (Local)

2025-06-25T20:51:18.049Z,1750884678.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  10.0 (Local)

2025-06-25T20:51:18.051Z,1750884678.051 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m  (Round-trip  28.4 ms) speed  0.5 m/s

2025-06-25T20:51:18.052Z,1750884678.052 [DAT](INFO): DAT read: user:742>

2025-06-25T20:51:18.053Z,1750884678.053 [DAT](INFO): DAT read: Tx time:20:51:19.2900

2025-06-25T20:51:18.053Z,1750884678.053 [DAT](INFO): Ping request sent.
2025-06-25T20:51:18.053Z,1750884678.053 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:18.053Z,1750884678.053 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-25T20:51:18.054Z,1750884678.054 [DAT](INFO): direction in FSK: [0.981905,0.075553,-0.173648]
2025-06-25T20:51:18.054Z,1750884678.054 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:18.055Z,1750884678.055 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:18.059Z,1750884678.059 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:18.059Z,1750884678.059 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:18.094Z,1750884678.094 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.040744
2025-06-25T20:51:18.196Z,1750884678.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 3.530916 s,
      deltaX: -2.200001 m,
      approachRate: -0.623068 m/s,
      rangeRepo size: 4

2025-06-25T20:51:18.198Z,1750884678.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.097206 m,
      bearing: 244.176848 deg,
      lat: 36.906261 deg,
      lon: -122.116378 deg,
      deltaT: 3.530916 s,
      deltaX: -2.179028 m,
      approachRate: -0.617128 m/s,
      posRepo size: 4

2025-06-25T20:51:18.198Z,1750884678.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:18.205Z,1750884678.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 20.927650 m,
      bearing: 244.158906 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.161216 deg/s,
      cmd heading: 240.501343 deg,
      new cmd heading: 240.713912 deg.

2025-06-25T20:51:18.206Z,1750884678.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201251 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:18.291Z,1750884678.291 [DAT](INFO): DAT read: TxSync time:20:51:19.2892

2025-06-25T20:51:18.293Z,1750884678.293 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.239826
2025-06-25T20:51:18.541Z,1750884678.541 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.487759
2025-06-25T20:51:18.598Z,1750884678.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:18.604Z,1750884678.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:18.607Z,1750884678.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 20.672422 m,
      bearing: 244.227047 deg,
      approach rate: -0.623811 m/s,
      LOS rate: 0.168602 deg/s,
      cmd heading: 240.713925 deg,
      new cmd heading: 240.920871 deg.

2025-06-25T20:51:18.612Z,1750884678.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204863 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:18.793Z,1750884678.793 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.739806
2025-06-25T20:51:18.980Z,1750884678.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:18.983Z,1750884678.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 20.433895 m,
      bearing: 244.289123 deg,
      approach rate: -0.655794 m/s,
      LOS rate: 0.172659 deg/s,
      cmd heading: 240.920880 deg,
      new cmd heading: 241.109280 deg.

2025-06-25T20:51:18.988Z,1750884678.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208151 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:19.046Z,1750884679.046 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.992594
2025-06-25T20:51:19.297Z,1750884679.297 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.243902
2025-06-25T20:51:19.435Z,1750884679.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:19.442Z,1750884679.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 20.151854 m,
      bearing: 244.361487 deg,
      approach rate: -0.598107 m/s,
      LOS rate: 0.155607 deg/s,
      cmd heading: 241.109284 deg,
      new cmd heading: 241.329415 deg.

2025-06-25T20:51:19.443Z,1750884679.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211993 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:19.549Z,1750884679.549 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.496157
2025-06-25T20:51:19.801Z,1750884679.801 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.747941
2025-06-25T20:51:19.807Z,1750884679.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:19.813Z,1750884679.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 19.924759 m,
      bearing: 244.414239 deg,
      approach rate: -0.611752 m/s,
      LOS rate: 0.143724 deg/s,
      cmd heading: 241.329407 deg,
      new cmd heading: 241.489467 deg.

2025-06-25T20:51:19.814Z,1750884679.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214787 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:20.054Z,1750884680.054 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.001478
2025-06-25T20:51:20.170Z,1750884680.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:20.173Z,1750884680.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 19.699881 m,
      bearing: 244.464998 deg,
      approach rate: -0.618073 m/s,
      LOS rate: 0.141102 deg/s,
      cmd heading: 241.489480 deg,
      new cmd heading: 241.643495 deg.

2025-06-25T20:51:20.174Z,1750884680.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217474 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:20.305Z,1750884680.305 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.251873
2025-06-25T20:51:20.557Z,1750884680.557 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.504164
2025-06-25T20:51:20.602Z,1750884680.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:20.604Z,1750884680.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:20.607Z,1750884680.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 19.431459 m,
      bearing: 244.528501 deg,
      approach rate: -0.619370 m/s,
      LOS rate: 0.148554 deg/s,
      cmd heading: 241.643487 deg,
      new cmd heading: 241.836626 deg.

2025-06-25T20:51:20.608Z,1750884680.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220845 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:20.809Z,1750884680.809 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.755883
2025-06-25T20:51:20.977Z,1750884680.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:20.996Z,1750884680.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 19.200180 m,
      bearing: 244.582974 deg,
      approach rate: -0.619446 m/s,
      LOS rate: 0.147653 deg/s,
      cmd heading: 241.836617 deg,
      new cmd heading: 242.002003 deg.

2025-06-25T20:51:20.997Z,1750884680.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223732 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:21.062Z,1750884681.062 [DAT](INFO): DAT read: Rx Time:20:51:21.7197

2025-06-25T20:51:21.062Z,1750884681.062 [DAT](INFO): Rx dataTimestamp_ set to:1750884681.061711
2025-06-25T20:51:21.063Z,1750884681.063 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.009910
2025-06-25T20:51:21.313Z,1750884681.313 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.259728
2025-06-25T20:51:21.473Z,1750884681.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-06-25T20:51:21.480Z,1750884681.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.097206 m,
      nav range: 18.900917 m,
      bearing: 244.654001 deg,
      approach rate: -0.603415 m/s,
      LOS rate: 0.145484 deg/s,
      cmd heading: 242.001990 deg,
      new cmd heading: 242.218446 deg.

2025-06-25T20:51:21.481Z,1750884681.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227509 target range: 21.097206 and range: 21.30 m.
2025-06-25T20:51:21.575Z,1750884681.575 [DAT](INFO): DAT read: 20:51:21.7197 LVL= 17072, 26721, 17650, 27347, AGC= 57, IDX= 416, 0.45,-1.883, 2.959,-1.972,-2.376, PHS= 0.581,-0.902, 0.401, RAW= 143.6,  -1.2, CAL= 147.9, -10.3, ROT=   2.1,  10.3

2025-06-25T20:51:21.578Z,1750884681.578 [DAT](INFO): got valid direction response:
 20:51:21.7197 LVL= 17072, 26721, 17650, 27347, AGC= 57, IDX= 416, 0.45,-1.883, 2.959,-1.972,-2.376, PHS= 0.581,-0.902, 0.401, RAW= 143.6,  -1.2, CAL= 147.9, -10.3, ROT=   2.1,  10.3

2025-06-25T20:51:21.579Z,1750884681.579 [DAT](INFO): DAT read: Bearing   2.1,  10.3 (Local)

2025-06-25T20:51:21.579Z,1750884681.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  10.3 (Local)

2025-06-25T20:51:21.585Z,1750884681.585 [DAT](INFO): DAT read: Range 10 to 50 : 19.0 m  (Round-trip  25.4 ms) speed  0.5 m/s

2025-06-25T20:51:21.586Z,1750884681.586 [DAT](INFO): DAT read: user:743>

2025-06-25T20:51:21.587Z,1750884681.587 [DAT](INFO): DAT read: Tx time:20:51:22.8401

2025-06-25T20:51:21.587Z,1750884681.587 [DAT](INFO): Ping request sent.
2025-06-25T20:51:21.587Z,1750884681.587 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:21.593Z,1750884681.593 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-25T20:51:21.595Z,1750884681.595 [DAT](INFO): direction in FSK: [0.983224,0.036053,-0.178802]
2025-06-25T20:51:21.595Z,1750884681.595 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:21.595Z,1750884681.595 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:21.607Z,1750884681.607 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:21.607Z,1750884681.607 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:21.635Z,1750884681.635 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.047668
2025-06-25T20:51:21.817Z,1750884681.817 [DAT](INFO): DAT read: TxSync time:20:51:22.8393

2025-06-25T20:51:21.818Z,1750884681.818 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.230492
2025-06-25T20:51:21.863Z,1750884681.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.000000 m,
      deltaT: 3.528465 s,
      deltaX: -2.299999 m,
      approachRate: -0.651841 m/s,
      rangeRepo size: 4

2025-06-25T20:51:21.869Z,1750884681.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.819113 m,
      bearing: 243.508095 deg,
      lat: 36.906261 deg,
      lon: -122.116378 deg,
      deltaT: 3.528465 s,
      deltaX: -2.278093 m,
      approachRate: -0.645633 m/s,
      posRepo size: 4

2025-06-25T20:51:21.870Z,1750884681.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:21.877Z,1750884681.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 18.655579 m,
      bearing: 244.721940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.145484 deg/s,
      cmd heading: 242.218452 deg,
      new cmd heading: 242.388448 deg.

2025-06-25T20:51:21.878Z,1750884681.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230476 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:22.069Z,1750884682.069 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.481456
2025-06-25T20:51:22.191Z,1750884682.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:22.194Z,1750884682.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 18.437477 m,
      bearing: 244.782386 deg,
      approach rate: -0.663562 m/s,
      LOS rate: 0.186079 deg/s,
      cmd heading: 242.388442 deg,
      new cmd heading: 242.571924 deg.

2025-06-25T20:51:22.195Z,1750884682.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233679 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:22.321Z,1750884682.321 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.733518
2025-06-25T20:51:22.573Z,1750884682.573 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.985336
2025-06-25T20:51:22.640Z,1750884682.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:22.643Z,1750884682.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:22.649Z,1750884682.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 18.159983 m,
      bearing: 244.869647 deg,
      approach rate: -0.614154 m/s,
      LOS rate: 0.196078 deg/s,
      cmd heading: 242.571928 deg,
      new cmd heading: 242.837709 deg.

2025-06-25T20:51:22.651Z,1750884682.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238317 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:22.825Z,1750884682.825 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.237556
2025-06-25T20:51:22.997Z,1750884682.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:23.000Z,1750884683.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 17.936489 m,
      bearing: 244.936036 deg,
      approach rate: -0.631019 m/s,
      LOS rate: 0.189781 deg/s,
      cmd heading: 242.837704 deg,
      new cmd heading: 243.039353 deg.

2025-06-25T20:51:23.001Z,1750884683.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241837 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:23.077Z,1750884683.077 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.489672
2025-06-25T20:51:23.329Z,1750884683.329 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.741439
2025-06-25T20:51:23.481Z,1750884683.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:23.483Z,1750884683.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 17.646126 m,
      bearing: 245.019542 deg,
      approach rate: -0.600807 m/s,
      LOS rate: 0.175628 deg/s,
      cmd heading: 243.039359 deg,
      new cmd heading: 243.293995 deg.

2025-06-25T20:51:23.489Z,1750884683.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246281 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:23.581Z,1750884683.581 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.993468
2025-06-25T20:51:23.833Z,1750884683.833 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.245581
2025-06-25T20:51:23.845Z,1750884683.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:23.847Z,1750884683.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 17.421139 m,
      bearing: 245.105591 deg,
      approach rate: -0.618139 m/s,
      LOS rate: 0.239468 deg/s,
      cmd heading: 243.293988 deg,
      new cmd heading: 243.555468 deg.

2025-06-25T20:51:23.853Z,1750884683.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250845 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:24.085Z,1750884684.085 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.497423
2025-06-25T20:51:24.209Z,1750884684.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:24.212Z,1750884684.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 17.178839 m,
      bearing: 245.196666 deg,
      approach rate: -0.664869 m/s,
      LOS rate: 0.253433 deg/s,
      cmd heading: 243.555475 deg,
      new cmd heading: 243.832551 deg.

2025-06-25T20:51:24.213Z,1750884684.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255681 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:24.337Z,1750884684.337 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.749548
2025-06-25T20:51:24.589Z,1750884684.589 [DAT](INFO): DAT read: Rx Time:20:51:25.2666

2025-06-25T20:51:24.589Z,1750884684.589 [DAT](INFO): Rx dataTimestamp_ set to:1750884684.589107
2025-06-25T20:51:24.590Z,1750884684.590 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.002651
2025-06-25T20:51:24.688Z,1750884684.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:24.690Z,1750884684.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:24.693Z,1750884684.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 16.875240 m,
      bearing: 245.314272 deg,
      approach rate: -0.631274 m/s,
      LOS rate: 0.248939 deg/s,
      cmd heading: 243.832562 deg,
      new cmd heading: 244.191724 deg.

2025-06-25T20:51:24.694Z,1750884684.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261950 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:24.841Z,1750884684.841 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.253389
2025-06-25T20:51:25.031Z,1750884685.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-06-25T20:51:25.034Z,1750884685.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.819113 m,
      nav range: 16.659641 m,
      bearing: 245.392972 deg,
      approach rate: -0.631979 m/s,
      LOS rate: 0.233676 deg/s,
      cmd heading: 244.191721 deg,
      new cmd heading: 244.430875 deg.

2025-06-25T20:51:25.035Z,1750884685.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266124 target range: 18.819113 and range: 19.00 m.
2025-06-25T20:51:25.099Z,1750884685.099 [DAT](INFO): DAT read: 20:51:25.2666 LVL= 21232, 30801, 22882, 32755, AGC= 55, IDX= 418,-0.33,-1.115,-2.516,-1.000,-1.530, PHS= 0.503,-0.939, 0.527, RAW= 150.8,  -1.3, CAL= 154.4, -10.1, ROT= 355.6,  10.1

2025-06-25T20:51:25.105Z,1750884685.105 [DAT](INFO): got valid direction response:
 20:51:25.2666 LVL= 21232, 30801, 22882, 32755, AGC= 55, IDX= 418,-0.33,-1.115,-2.516,-1.000,-1.530, PHS= 0.503,-0.939, 0.527, RAW= 150.8,  -1.3, CAL= 154.4, -10.1, ROT= 355.6,  10.1

2025-06-25T20:51:25.106Z,1750884685.106 [DAT](INFO): DAT read: Bearing 355.6,  10.1 (Local)

2025-06-25T20:51:25.107Z,1750884685.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  10.1 (Local)

2025-06-25T20:51:25.121Z,1750884685.121 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m  (Round-trip  22.4 ms) speed  0.5 m/s

2025-06-25T20:51:25.122Z,1750884685.122 [DAT](INFO): DAT read: user:744>

2025-06-25T20:51:25.123Z,1750884685.123 [DAT](INFO): DAT read: Tx time:20:51:26.3901

2025-06-25T20:51:25.136Z,1750884685.136 [DAT](INFO): Ping request sent.
2025-06-25T20:51:25.136Z,1750884685.136 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:25.136Z,1750884685.136 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-25T20:51:25.137Z,1750884685.137 [DAT](INFO): direction in FSK: [0.981602,-0.075530,-0.175367]
2025-06-25T20:51:25.138Z,1750884685.138 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:25.138Z,1750884685.138 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:25.141Z,1750884685.141 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:25.142Z,1750884685.142 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:25.181Z,1750884685.181 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.057840
2025-06-25T20:51:25.345Z,1750884685.345 [DAT](INFO): DAT read: TxSync time:20:51:26.3893

2025-06-25T20:51:25.346Z,1750884685.346 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.222364
2025-06-25T20:51:25.483Z,1750884685.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 3.528096 s,
      deltaX: -2.200001 m,
      approachRate: -0.623566 m/s,
      rangeRepo size: 4

2025-06-25T20:51:25.499Z,1750884685.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.640034 m,
      bearing: 239.509560 deg,
      lat: 36.906260 deg,
      lon: -122.116378 deg,
      deltaT: 3.528096 s,
      deltaX: -2.179079 m,
      approachRate: -0.617636 m/s,
      posRepo size: 4

2025-06-25T20:51:25.504Z,1750884685.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:25.507Z,1750884685.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 16.462599 m,
      bearing: 245.096357 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.233676 deg/s,
      cmd heading: 244.430887 deg,
      new cmd heading: 244.741618 deg.

2025-06-25T20:51:25.512Z,1750884685.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271547 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:25.597Z,1750884685.597 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.473337
2025-06-25T20:51:25.849Z,1750884685.849 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.725305
2025-06-25T20:51:25.858Z,1750884685.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:25.861Z,1750884685.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 16.185953 m,
      bearing: 245.198240 deg,
      approach rate: -0.720304 m/s,
      LOS rate: 0.269807 deg/s,
      cmd heading: 244.741606 deg,
      new cmd heading: 245.052475 deg.

2025-06-25T20:51:25.862Z,1750884685.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276973 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:26.101Z,1750884686.101 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.977240
2025-06-25T20:51:26.234Z,1750884686.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:26.237Z,1750884686.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 15.947551 m,
      bearing: 245.284829 deg,
      approach rate: -0.634854 m/s,
      LOS rate: 0.234029 deg/s,
      cmd heading: 245.052489 deg,
      new cmd heading: 245.316137 deg.

2025-06-25T20:51:26.238Z,1750884686.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281574 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:26.353Z,1750884686.353 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.229326
2025-06-25T20:51:26.605Z,1750884686.605 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.481182
2025-06-25T20:51:26.689Z,1750884686.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:26.696Z,1750884686.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 15.673471 m,
      bearing: 245.364777 deg,
      approach rate: -0.601624 m/s,
      LOS rate: 0.178561 deg/s,
      cmd heading: 245.316134 deg,
      new cmd heading: 245.560172 deg.

2025-06-25T20:51:26.697Z,1750884686.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285833 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:26.857Z,1750884686.857 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.733231
2025-06-25T20:51:27.034Z,1750884687.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:27.038Z,1750884687.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:27.041Z,1750884687.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 15.440971 m,
      bearing: 245.430930 deg,
      approach rate: -0.666866 m/s,
      LOS rate: 0.192599 deg/s,
      cmd heading: 245.560163 deg,
      new cmd heading: 245.761609 deg.

2025-06-25T20:51:27.042Z,1750884687.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289349 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:27.110Z,1750884687.110 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.986080
2025-06-25T20:51:27.361Z,1750884687.361 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.237195
2025-06-25T20:51:27.485Z,1750884687.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:27.503Z,1750884687.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 15.185669 m,
      bearing: 245.501944 deg,
      approach rate: -0.579260 m/s,
      LOS rate: 0.163832 deg/s,
      cmd heading: 245.761599 deg,
      new cmd heading: 245.978220 deg.

2025-06-25T20:51:27.511Z,1750884687.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293130 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:27.613Z,1750884687.613 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.489312
2025-06-25T20:51:27.865Z,1750884687.865 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.741163
2025-06-25T20:51:27.886Z,1750884687.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:27.894Z,1750884687.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 14.918636 m,
      bearing: 245.572973 deg,
      approach rate: -0.655308 m/s,
      LOS rate: 0.177427 deg/s,
      cmd heading: 245.978225 deg,
      new cmd heading: 246.195124 deg.

2025-06-25T20:51:27.895Z,1750884687.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296916 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:28.117Z,1750884688.117 [DAT](INFO): DAT read: Rx Time:20:51:28.8136

2025-06-25T20:51:28.118Z,1750884688.118 [DAT](INFO): Rx dataTimestamp_ set to:1750884688.117031
2025-06-25T20:51:28.119Z,1750884688.118 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.994635
2025-06-25T20:51:28.250Z,1750884688.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.64 m.
2025-06-25T20:51:28.253Z,1750884688.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.640034 m,
      nav range: 14.673607 m,
      bearing: 245.635641 deg,
      approach rate: -0.674049 m/s,
      LOS rate: 0.175273 deg/s,
      cmd heading: 246.195125 deg,
      new cmd heading: 246.386270 deg.

2025-06-25T20:51:28.254Z,1750884688.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300251 target range: 16.640034 and range: 16.80 m.
2025-06-25T20:51:28.369Z,1750884688.369 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.245333
2025-06-25T20:51:28.627Z,1750884688.627 [DAT](INFO): DAT read: 20:51:28.8136 LVL= 20656, 30705, 18818, 29539, AGC= 57, IDX= 402, 0.41,-0.593,-2.002,-0.395,-0.955, PHS= 0.450,-1.001, 0.557, RAW= 153.5,  -0.1, CAL= 156.4,  -8.9, ROT= 353.6,   8.9

2025-06-25T20:51:28.629Z,1750884688.629 [DAT](INFO): got valid direction response:
 20:51:28.8136 LVL= 20656, 30705, 18818, 29539, AGC= 57, IDX= 402, 0.41,-0.593,-2.002,-0.395,-0.955, PHS= 0.450,-1.001, 0.557, RAW= 153.5,  -0.1, CAL= 156.4,  -8.9, ROT= 353.6,   8.9

2025-06-25T20:51:28.630Z,1750884688.630 [DAT](INFO): DAT read: Bearing 353.6,   8.9 (Local)

2025-06-25T20:51:28.631Z,1750884688.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,   8.9 (Local)

2025-06-25T20:51:28.633Z,1750884688.633 [DAT](INFO): DAT read: Range 10 to 50 : 14.5 m  (Round-trip  19.4 ms) speed  0.6 m/s

2025-06-25T20:51:28.634Z,1750884688.634 [DAT](INFO): DAT read: user:745>

2025-06-25T20:51:28.635Z,1750884688.635 [DAT](INFO): DAT read: Tx time:20:51:29.8901

2025-06-25T20:51:28.635Z,1750884688.635 [DAT](INFO): Ping request sent.
2025-06-25T20:51:28.635Z,1750884688.635 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:28.636Z,1750884688.636 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-25T20:51:28.637Z,1750884688.637 [DAT](INFO): direction in FSK: [0.981803,-0.110127,-0.154710]
2025-06-25T20:51:28.638Z,1750884688.638 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:28.638Z,1750884688.638 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:28.643Z,1750884688.643 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:28.643Z,1750884688.643 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:28.657Z,1750884688.657 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.021563
2025-06-25T20:51:28.791Z,1750884688.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.500000 m,
      deltaT: 3.527187 s,
      deltaX: -2.299999 m,
      approachRate: -0.652077 m/s,
      rangeRepo size: 4

2025-06-25T20:51:28.798Z,1750884688.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.361944 m,
      bearing: 239.457500 deg,
      lat: 36.906258 deg,
      lon: -122.116376 deg,
      deltaT: 3.527187 s,
      deltaX: -2.278090 m,
      approachRate: -0.645866 m/s,
      posRepo size: 4

2025-06-25T20:51:28.799Z,1750884688.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:28.806Z,1750884688.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 14.279420 m,
      bearing: 244.539419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.175273 deg/s,
      cmd heading: 246.386261 deg,
      new cmd heading: 246.670454 deg.

2025-06-25T20:51:28.807Z,1750884688.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305212 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:28.874Z,1750884688.874 [DAT](INFO): DAT read: TxSync time:20:51:29.8893

2025-06-25T20:51:28.875Z,1750884688.875 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.239454
2025-06-25T20:51:29.098Z,1750884689.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:29.100Z,1750884689.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:29.103Z,1750884689.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 14.071527 m,
      bearing: 244.546596 deg,
      approach rate: -0.671091 m/s,
      LOS rate: 0.023511 deg/s,
      cmd heading: 246.670451 deg,
      new cmd heading: 246.692301 deg.

2025-06-25T20:51:29.104Z,1750884689.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305593 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:29.126Z,1750884689.126 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.490410
2025-06-25T20:51:29.377Z,1750884689.377 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.741469
2025-06-25T20:51:29.630Z,1750884689.630 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.993932
2025-06-25T20:51:29.658Z,1750884689.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:29.666Z,1750884689.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 13.733399 m,
      bearing: 244.514037 deg,
      approach rate: -0.605966 m/s,
      LOS rate: -0.059787 deg/s,
      cmd heading: 246.692308 deg,
      new cmd heading: 246.592225 deg.

2025-06-25T20:51:29.667Z,1750884689.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303846 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:29.881Z,1750884689.881 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.246061
2025-06-25T20:51:29.973Z,1750884689.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:29.981Z,1750884689.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 13.528454 m,
      bearing: 244.484411 deg,
      approach rate: -0.650635 m/s,
      LOS rate: -0.095478 deg/s,
      cmd heading: 246.592232 deg,
      new cmd heading: 246.502007 deg.

2025-06-25T20:51:29.982Z,1750884689.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302272 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:30.133Z,1750884690.133 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.497394
2025-06-25T20:51:30.364Z,1750884690.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:30.367Z,1750884690.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 13.267134 m,
      bearing: 244.439163 deg,
      approach rate: -0.667607 m/s,
      LOS rate: -0.117874 deg/s,
      cmd heading: 246.502019 deg,
      new cmd heading: 246.363601 deg.

2025-06-25T20:51:30.368Z,1750884690.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299856 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:30.387Z,1750884690.387 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.751832
2025-06-25T20:51:30.637Z,1750884690.637 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.001952
2025-06-25T20:51:30.794Z,1750884690.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:30.801Z,1750884690.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 13.009566 m,
      bearing: 244.376121 deg,
      approach rate: -0.599412 m/s,
      LOS rate: -0.149616 deg/s,
      cmd heading: 246.363612 deg,
      new cmd heading: 246.170743 deg.

2025-06-25T20:51:30.802Z,1750884690.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296490 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:30.889Z,1750884690.889 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.253568
2025-06-25T20:51:31.141Z,1750884691.141 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.505823
2025-06-25T20:51:31.171Z,1750884691.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:31.173Z,1750884691.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:31.177Z,1750884691.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 12.763014 m,
      bearing: 244.309269 deg,
      approach rate: -0.650025 m/s,
      LOS rate: -0.179657 deg/s,
      cmd heading: 246.170755 deg,
      new cmd heading: 245.966326 deg.

2025-06-25T20:51:31.177Z,1750884691.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292922 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:31.393Z,1750884691.393 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.757551
2025-06-25T20:51:31.638Z,1750884691.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:31.642Z,1750884691.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 12.476075 m,
      bearing: 244.209739 deg,
      approach rate: -0.618358 m/s,
      LOS rate: -0.219422 deg/s,
      cmd heading: 245.966314 deg,
      new cmd heading: 245.660859 deg.

2025-06-25T20:51:31.646Z,1750884691.646 [DAT](INFO): DAT read: Rx Time:20:51:32.3105

2025-06-25T20:51:31.646Z,1750884691.646 [DAT](INFO): Rx dataTimestamp_ set to:1750884691.646034
2025-06-25T20:51:31.647Z,1750884691.647 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.011598
2025-06-25T20:51:31.643Z,1750884691.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287591 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:31.897Z,1750884691.897 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.261739
2025-06-25T20:51:31.975Z,1750884691.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.36 m.
2025-06-25T20:51:31.978Z,1750884691.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.361944 m,
      nav range: 12.262576 m,
      bearing: 244.129344 deg,
      approach rate: -0.631830 m/s,
      LOS rate: -0.242062 deg/s,
      cmd heading: 245.660867 deg,
      new cmd heading: 245.415486 deg.

2025-06-25T20:51:31.982Z,1750884691.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283308 target range: 14.361944 and range: 14.50 m.
2025-06-25T20:51:32.156Z,1750884692.156 [DAT](INFO): DAT read: 20:51:32.3105 LVL= 25968, 27121, 16642, 32755, AGC= 57, IDX= 403,-0.08, 2.906, 1.560,-3.000, 2.687, PHS= 0.307,-1.080, 0.593, RAW= 159.2,   2.4, CAL= 160.7,  -6.5, ROT= 349.3,   6.5

2025-06-25T20:51:32.158Z,1750884692.158 [DAT](INFO): got valid direction response:
 20:51:32.3105 LVL= 25968, 27121, 16642, 32755, AGC= 57, IDX= 403,-0.08, 2.906, 1.560,-3.000, 2.687, PHS= 0.307,-1.080, 0.593, RAW= 159.2,   2.4, CAL= 160.7,  -6.5, ROT= 349.3,   6.5

2025-06-25T20:51:32.159Z,1750884692.159 [DAT](INFO): DAT read: Bearing 349.3,   6.5 (Local)

2025-06-25T20:51:32.164Z,1750884692.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,   6.5 (Local)

2025-06-25T20:51:32.166Z,1750884692.166 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m  (Round-trip  16.3 ms) speed  0.5 m/s

2025-06-25T20:51:32.167Z,1750884692.167 [DAT](INFO): DAT read: user:746>

2025-06-25T20:51:32.174Z,1750884692.174 [DAT](INFO): DAT read: Tx time:20:51:33.3901

2025-06-25T20:51:32.175Z,1750884692.175 [DAT](INFO): Ping request sent.
2025-06-25T20:51:32.175Z,1750884692.175 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:32.175Z,1750884692.175 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-25T20:51:32.181Z,1750884692.181 [DAT](INFO): direction in FSK: [0.976296,-0.184473,-0.113203]
2025-06-25T20:51:32.181Z,1750884692.181 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:32.181Z,1750884692.181 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:32.197Z,1750884692.197 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:32.197Z,1750884692.197 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:32.201Z,1750884692.201 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.026129
2025-06-25T20:51:32.401Z,1750884692.401 [DAT](INFO): DAT read: TxSync time:20:51:33.3893

2025-06-25T20:51:32.402Z,1750884692.402 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.227074
2025-06-25T20:51:32.405Z,1750884692.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 3.529585 s,
      deltaX: -2.300000 m,
      approachRate: -0.651635 m/s,
      rangeRepo size: 4

2025-06-25T20:51:32.407Z,1750884692.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.083865 m,
      bearing: 237.031334 deg,
      lat: 36.906248 deg,
      lon: -122.116370 deg,
      deltaT: 3.529585 s,
      deltaX: -2.278079 m,
      approachRate: -0.645424 m/s,
      posRepo size: 4

2025-06-25T20:51:32.407Z,1750884692.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:32.411Z,1750884692.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 12.040121 m,
      bearing: 238.131406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.242062 deg/s,
      cmd heading: 245.415472 deg,
      new cmd heading: 245.104333 deg.

2025-06-25T20:51:32.412Z,1750884692.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277878 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:32.654Z,1750884692.654 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.478462
2025-06-25T20:51:32.840Z,1750884692.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:32.843Z,1750884692.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 11.776417 m,
      bearing: 237.898865 deg,
      approach rate: -0.605032 m/s,
      LOS rate: -0.545478 deg/s,
      cmd heading: 245.104344 deg,
      new cmd heading: 244.391137 deg.

2025-06-25T20:51:32.844Z,1750884692.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265430 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:32.907Z,1750884692.907 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.731875
2025-06-25T20:51:33.157Z,1750884693.157 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.981988
2025-06-25T20:51:33.202Z,1750884693.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:33.205Z,1750884693.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:33.207Z,1750884693.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 11.552936 m,
      bearing: 237.691945 deg,
      approach rate: -0.612400 m/s,
      LOS rate: -0.577986 deg/s,
      cmd heading: 244.391135 deg,
      new cmd heading: 243.758393 deg.

2025-06-25T20:51:33.209Z,1750884693.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254386 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:33.410Z,1750884693.410 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.235440
2025-06-25T20:51:33.661Z,1750884693.661 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.486554
2025-06-25T20:51:33.695Z,1750884693.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:33.702Z,1750884693.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 11.266920 m,
      bearing: 237.438510 deg,
      approach rate: -0.582975 m/s,
      LOS rate: -0.529679 deg/s,
      cmd heading: 243.758387 deg,
      new cmd heading: 242.978832 deg.

2025-06-25T20:51:33.703Z,1750884693.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240781 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:33.913Z,1750884693.913 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.737971
2025-06-25T20:51:33.999Z,1750884693.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:34.002Z,1750884694.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 11.070154 m,
      bearing: 237.255300 deg,
      approach rate: -0.647058 m/s,
      LOS rate: -0.613185 deg/s,
      cmd heading: 242.978843 deg,
      new cmd heading: 242.419466 deg.

2025-06-25T20:51:34.003Z,1750884694.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231018 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:34.165Z,1750884694.165 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.990107
2025-06-25T20:51:34.396Z,1750884694.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:34.399Z,1750884694.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 10.829947 m,
      bearing: 237.022102 deg,
      approach rate: -0.606155 m/s,
      LOS rate: -0.601518 deg/s,
      cmd heading: 242.419478 deg,
      new cmd heading: 241.704405 deg.

2025-06-25T20:51:34.400Z,1750884694.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218538 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:34.417Z,1750884694.417 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.242093
2025-06-25T20:51:34.669Z,1750884694.669 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.493969
2025-06-25T20:51:34.833Z,1750884694.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:34.835Z,1750884694.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 10.564322 m,
      bearing: 236.787208 deg,
      approach rate: -0.608093 m/s,
      LOS rate: -0.551262 deg/s,
      cmd heading: 241.704412 deg,
      new cmd heading: 240.982052 deg.

2025-06-25T20:51:34.837Z,1750884694.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205930 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:34.922Z,1750884694.922 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.746907
2025-06-25T20:51:35.173Z,1750884695.173 [DAT](INFO): DAT read: Rx Time:20:51:35.8077

2025-06-25T20:51:35.173Z,1750884695.173 [DAT](INFO): Rx dataTimestamp_ set to:1750884695.173034
2025-06-25T20:51:35.174Z,1750884695.174 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.999150
2025-06-25T20:51:35.224Z,1750884695.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:35.226Z,1750884695.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.08 m.
2025-06-25T20:51:35.229Z,1750884695.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.083865 m,
      nav range: 10.324958 m,
      bearing: 236.567530 deg,
      approach rate: -0.608176 m/s,
      LOS rate: -0.571096 deg/s,
      cmd heading: 240.982051 deg,
      new cmd heading: 240.307770 deg.

2025-06-25T20:51:35.230Z,1750884695.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194162 target range: 12.083865 and range: 12.20 m.
2025-06-25T20:51:35.425Z,1750884695.425 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.250057
2025-06-25T20:51:35.683Z,1750884695.683 [DAT](INFO): DAT read: 20:51:35.8078 LVL= 21152, 27345, 13202, 31331, AGC= 54, IDX= 406, 0.40,-2.903, 2.177,-2.410,-3.026, PHS= 0.210,-1.034, 0.613, RAW= 163.6,   2.9, CAL= 164.5,  -6.0, ROT= 345.5,   6.0

2025-06-25T20:51:35.684Z,1750884695.684 [DAT](INFO): got valid direction response:
 20:51:35.8078 LVL= 21152, 27345, 13202, 31331, AGC= 54, IDX= 406, 0.40,-2.903, 2.177,-2.410,-3.026, PHS= 0.210,-1.034, 0.613, RAW= 163.6,   2.9, CAL= 164.5,  -6.0, ROT= 345.5,   6.0

2025-06-25T20:51:35.685Z,1750884695.685 [DAT](INFO): DAT read: Bearing 345.5,   6.0 (Local)

2025-06-25T20:51:35.686Z,1750884695.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,   6.0 (Local)

2025-06-25T20:51:35.687Z,1750884695.687 [DAT](INFO): DAT read: Range 10 to 50 : 10.0 m  (Round-trip  13.4 ms) speed  0.5 m/s

2025-06-25T20:51:35.691Z,1750884695.691 [DAT](INFO): DAT read: user:747>

2025-06-25T20:51:35.696Z,1750884695.696 [DAT](INFO): DAT read: Tx time:20:51:36.8902

2025-06-25T20:51:35.697Z,1750884695.697 [DAT](INFO): Ping request sent.
2025-06-25T20:51:35.697Z,1750884695.697 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:35.697Z,1750884695.697 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-25T20:51:35.698Z,1750884695.698 [DAT](INFO): direction in FSK: [0.962844,-0.249008,-0.104528]
2025-06-25T20:51:35.698Z,1750884695.698 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:35.699Z,1750884695.699 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:35.711Z,1750884695.711 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:35.721Z,1750884695.721 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:35.732Z,1750884695.732 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.035357
2025-06-25T20:51:35.763Z,1750884695.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.000000 m,
      deltaT: 3.526570 s,
      deltaX: -2.200000 m,
      approachRate: -0.623836 m/s,
      rangeRepo size: 4

2025-06-25T20:51:35.774Z,1750884695.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.904795 m,
      bearing: 232.912905 deg,
      lat: 36.906247 deg,
      lon: -122.116369 deg,
      deltaT: 3.526570 s,
      deltaX: -2.179070 m,
      approachRate: -0.617901 m/s,
      posRepo size: 4

2025-06-25T20:51:35.774Z,1750884695.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.90 m.
2025-06-25T20:51:35.775Z,1750884695.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 10.00 m.
2025-06-25T20:51:35.775Z,1750884695.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-25T20:51:35.790Z,1750884695.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 10.010272 m,
      bearing: 235.674013 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.571096 deg/s,
      cmd heading: 240.307775 deg,
      new cmd heading: 239.388440 deg.

2025-06-25T20:51:35.791Z,1750884695.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178116 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:35.929Z,1750884695.929 [DAT](INFO): DAT read: TxSync time:20:51:36.8894

2025-06-25T20:51:35.930Z,1750884695.930 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.233135
2025-06-25T20:51:36.120Z,1750884696.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:36.123Z,1750884696.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 9.779877 m,
      bearing: 235.462875 deg,
      approach rate: -0.645587 m/s,
      LOS rate: -0.605563 deg/s,
      cmd heading: 239.388432 deg,
      new cmd heading: 238.740125 deg.

2025-06-25T20:51:36.124Z,1750884696.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166801 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:36.182Z,1750884696.182 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.484612
2025-06-25T20:51:36.433Z,1750884696.433 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.736193
2025-06-25T20:51:36.507Z,1750884696.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:36.510Z,1750884696.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 9.543539 m,
      bearing: 235.245186 deg,
      approach rate: -0.610941 m/s,
      LOS rate: -0.576670 deg/s,
      cmd heading: 238.740137 deg,
      new cmd heading: 238.070927 deg.

2025-06-25T20:51:36.510Z,1750884696.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155121 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:36.685Z,1750884696.685 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.988094
2025-06-25T20:51:36.937Z,1750884696.937 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.240143
2025-06-25T20:51:36.939Z,1750884696.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:36.945Z,1750884696.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 9.275880 m,
      bearing: 235.038947 deg,
      approach rate: -0.619560 m/s,
      LOS rate: -0.491161 deg/s,
      cmd heading: 238.070915 deg,
      new cmd heading: 237.434374 deg.

2025-06-25T20:51:36.947Z,1750884696.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144011 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:37.189Z,1750884697.189 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.492037
2025-06-25T20:51:37.330Z,1750884697.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:37.337Z,1750884697.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:37.344Z,1750884697.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 9.039568 m,
      bearing: 234.855526 deg,
      approach rate: -0.592871 m/s,
      LOS rate: -0.472205 deg/s,
      cmd heading: 237.434369 deg,
      new cmd heading: 236.869740 deg.

2025-06-25T20:51:37.345Z,1750884697.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134157 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:37.441Z,1750884697.441 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.744262
2025-06-25T20:51:37.693Z,1750884697.693 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.996128
2025-06-25T20:51:37.743Z,1750884697.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:37.746Z,1750884697.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 8.769100 m,
      bearing: 234.680138 deg,
      approach rate: -0.666466 m/s,
      LOS rate: -0.445505 deg/s,
      cmd heading: 236.869731 deg,
      new cmd heading: 236.327357 deg.

2025-06-25T20:51:37.747Z,1750884697.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124691 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:37.945Z,1750884697.945 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.248056
2025-06-25T20:51:38.145Z,1750884698.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:38.148Z,1750884698.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 8.514105 m,
      bearing: 234.515794 deg,
      approach rate: -0.634492 m/s,
      LOS rate: -0.421177 deg/s,
      cmd heading: 236.327359 deg,
      new cmd heading: 235.819574 deg.

2025-06-25T20:51:38.149Z,1750884698.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115828 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:38.201Z,1750884698.201 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.503567
2025-06-25T20:51:38.449Z,1750884698.449 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.752019
2025-06-25T20:51:38.542Z,1750884698.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:38.545Z,1750884698.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 8.263196 m,
      bearing: 234.357623 deg,
      approach rate: -0.632560 m/s,
      LOS rate: -0.410869 deg/s,
      cmd heading: 235.819576 deg,
      new cmd heading: 235.330667 deg.

2025-06-25T20:51:38.545Z,1750884698.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107295 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:38.701Z,1750884698.701 [DAT](INFO): DAT read: Rx Time:20:51:39.3049

2025-06-25T20:51:38.701Z,1750884698.701 [DAT](INFO): Rx dataTimestamp_ set to:1750884698.701083
2025-06-25T20:51:38.702Z,1750884698.702 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.005210
2025-06-25T20:51:38.953Z,1750884698.953 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.256188
2025-06-25T20:51:38.959Z,1750884698.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:38.962Z,1750884698.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 7.993124 m,
      bearing: 234.168119 deg,
      approach rate: -0.647560 m/s,
      LOS rate: -0.469731 deg/s,
      cmd heading: 235.330671 deg,
      new cmd heading: 234.742970 deg.

2025-06-25T20:51:38.963Z,1750884698.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097038 target range: 9.904795 and range: 10.00 m.
2025-06-25T20:51:39.084Z,1750884699.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:51:39.218Z,1750884699.218 [DAT](INFO): DAT read: 20:51:39.3049 LVL= 32752, 32753, 22322, 32755, AGC= 53, IDX= 409, 0.05,-0.195,-1.513, 0.330,-0.243, PHS= 0.137,-1.223, 0.571, RAW= 163.4,   6.4, CAL= 163.3,  -3.1, ROT= 346.7,   3.1

2025-06-25T20:51:39.221Z,1750884699.221 [DAT](INFO): got valid direction response:
 20:51:39.3049 LVL= 32752, 32753, 22322, 32755, AGC= 53, IDX= 409, 0.05,-0.195,-1.513, 0.330,-0.243, PHS= 0.137,-1.223, 0.571, RAW= 163.4,   6.4, CAL= 163.3,  -3.1, ROT= 346.7,   3.1

2025-06-25T20:51:39.222Z,1750884699.222 [DAT](INFO): DAT read: Bearing 346.7,   3.1 (Local)

2025-06-25T20:51:39.223Z,1750884699.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,   3.1 (Local)

2025-06-25T20:51:39.234Z,1750884699.234 [DAT](INFO): DAT read: Range 10 to 50 : 7.9 m  (Round-trip  10.6 ms) speed  0.6 m/s

2025-06-25T20:51:39.235Z,1750884699.235 [DAT](INFO): DAT read: user:748>

2025-06-25T20:51:39.249Z,1750884699.249 [DAT](INFO): DAT read: Tx time:20:51:40.3902

2025-06-25T20:51:39.249Z,1750884699.249 [DAT](INFO): Ping request sent.
2025-06-25T20:51:39.249Z,1750884699.249 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:39.250Z,1750884699.250 [DAT](INFO): DAT read: TxSync time:20:51:40.3894

2025-06-25T20:51:39.251Z,1750884699.251 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-25T20:51:39.264Z,1750884699.264 [DAT](INFO): direction in FSK: [0.971755,-0.229713,-0.054079]
2025-06-25T20:51:39.265Z,1750884699.265 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:39.265Z,1750884699.265 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:39.276Z,1750884699.276 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:39.276Z,1750884699.276 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:39.292Z,1750884699.292 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.030375
2025-06-25T20:51:39.374Z,1750884699.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.900000 m,
      deltaT: 3.529504 s,
      deltaX: -2.100000 m,
      approachRate: -0.594984 m/s,
      rangeRepo size: 4

2025-06-25T20:51:39.377Z,1750884699.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.824786 m,
      bearing: 230.425500 deg,
      lat: 36.906246 deg,
      lon: -122.116369 deg,
      deltaT: 3.529504 s,
      deltaX: -2.080009 m,
      approachRate: -0.589320 m/s,
      posRepo size: 4

2025-06-25T20:51:39.378Z,1750884699.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.82 m. 9.90 m.
2025-06-25T20:51:39.397Z,1750884699.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 7.743813 m,
      bearing: 233.997797 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.571096 deg/s,
      cmd heading: 234.742974 deg,
      new cmd heading: 234.041573 deg.

2025-06-25T20:51:39.398Z,1750884699.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084796 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:39.457Z,1750884699.457 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.208193
2025-06-25T20:51:39.713Z,1750884699.713 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.463641
2025-06-25T20:51:39.782Z,1750884699.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:39.785Z,1750884699.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:39.787Z,1750884699.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 7.463421 m,
      bearing: 233.762853 deg,
      approach rate: -0.673682 m/s,
      LOS rate: -0.585691 deg/s,
      cmd heading: 234.041568 deg,
      new cmd heading: 233.310300 deg.

2025-06-25T20:51:39.801Z,1750884699.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072033 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:39.965Z,1750884699.965 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.715471
2025-06-25T20:51:40.089Z,1750884700.089 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:51:40.139Z,1750884700.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:40.141Z,1750884700.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 7.233432 m,
      bearing: 233.577768 deg,
      approach rate: -0.649107 m/s,
      LOS rate: -0.538982 deg/s,
      cmd heading: 233.310301 deg,
      new cmd heading: 232.737410 deg.

2025-06-25T20:51:40.142Z,1750884700.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062034 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:40.217Z,1750884700.217 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.967766
2025-06-25T20:51:40.469Z,1750884700.469 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.219542
2025-06-25T20:51:40.718Z,1750884700.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:40.721Z,1750884700.721 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.471624
2025-06-25T20:51:40.722Z,1750884700.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 6.864956 m,
      bearing: 233.289530 deg,
      approach rate: -0.636238 m/s,
      LOS rate: -0.524405 deg/s,
      cmd heading: 232.737412 deg,
      new cmd heading: 231.826365 deg.

2025-06-25T20:51:40.723Z,1750884700.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046134 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:40.974Z,1750884700.974 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.724253
2025-06-25T20:51:41.042Z,1750884701.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:41.046Z,1750884701.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 6.651781 m,
      bearing: 233.100805 deg,
      approach rate: -0.657543 m/s,
      LOS rate: -0.600780 deg/s,
      cmd heading: 231.826374 deg,
      new cmd heading: 231.242077 deg.

2025-06-25T20:51:41.047Z,1750884701.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035935 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:41.226Z,1750884701.226 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.976519
2025-06-25T20:51:41.441Z,1750884701.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:41.443Z,1750884701.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 6.391941 m,
      bearing: 232.876937 deg,
      approach rate: -0.651435 m/s,
      LOS rate: -0.584066 deg/s,
      cmd heading: 231.242065 deg,
      new cmd heading: 230.543195 deg.

2025-06-25T20:51:41.445Z,1750884701.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.023738 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:41.478Z,1750884701.478 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.228739
2025-06-25T20:51:41.731Z,1750884701.731 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.481403
2025-06-25T20:51:41.888Z,1750884701.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:41.891Z,1750884701.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:41.897Z,1750884701.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 6.122457 m,
      bearing: 232.624750 deg,
      approach rate: -0.599299 m/s,
      LOS rate: -0.585516 deg/s,
      cmd heading: 230.543200 deg,
      new cmd heading: 229.753390 deg.

2025-06-25T20:51:41.898Z,1750884701.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009953 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:41.981Z,1750884701.981 [DAT](INFO): DAT read: Rx Time:20:51:42.8019

2025-06-25T20:51:41.981Z,1750884701.981 [DAT](INFO): Rx dataTimestamp_ set to:1750884701.981216
2025-06-25T20:51:41.982Z,1750884701.982 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.732800
2025-06-25T20:51:42.233Z,1750884702.233 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.983394
2025-06-25T20:51:42.256Z,1750884702.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:42.259Z,1750884702.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 5.875312 m,
      bearing: 232.396160 deg,
      approach rate: -0.676255 m/s,
      LOS rate: -0.651791 deg/s,
      cmd heading: 229.753384 deg,
      new cmd heading: 229.038808 deg.

2025-06-25T20:51:42.260Z,1750884702.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997481 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:42.488Z,1750884702.488 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.238095
2025-06-25T20:51:42.682Z,1750884702.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:42.711Z,1750884702.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 5.612009 m,
      bearing: 232.156716 deg,
      approach rate: -0.622034 m/s,
      LOS rate: -0.592206 deg/s,
      cmd heading: 229.038810 deg,
      new cmd heading: 228.286821 deg.

2025-06-25T20:51:42.715Z,1750884702.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984357 target range: 9.904795 and range: 7.90 m.
2025-06-25T20:51:42.745Z,1750884702.745 [DAT](INFO): DAT read: 20:51:42.8019 LVL= 22112, 32593, 20914, 32755, AGC= 50, IDX= 410,-0.17,-2.275, 2.551,-2.080,-2.446, PHS= 0.260,-1.239, 0.363, RAW= 153.3,   8.0, CAL= 153.7,  -1.2, ROT= 356.3,   1.2

2025-06-25T20:51:42.746Z,1750884702.746 [DAT](INFO): got valid direction response:
 20:51:42.8019 LVL= 22112, 32593, 20914, 32755, AGC= 50, IDX= 410,-0.17,-2.275, 2.551,-2.080,-2.446, PHS= 0.260,-1.239, 0.363, RAW= 153.3,   8.0, CAL= 153.7,  -1.2, ROT= 356.3,   1.2

2025-06-25T20:51:42.747Z,1750884702.747 [DAT](INFO): DAT read: Bearing 356.3,   1.2 (Local)

2025-06-25T20:51:42.748Z,1750884702.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,   1.2 (Local)

2025-06-25T20:51:42.749Z,1750884702.749 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m  (Round-trip  7.6 ms) speed  0.6 m/s

2025-06-25T20:51:42.750Z,1750884702.750 [DAT](INFO): DAT read: user:749>

2025-06-25T20:51:42.751Z,1750884702.751 [DAT](INFO): DAT read: Tx time:20:51:43.8902

2025-06-25T20:51:42.751Z,1750884702.751 [DAT](INFO): Ping request sent.
2025-06-25T20:51:42.751Z,1750884702.751 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:42.756Z,1750884702.756 [DAT](INFO): DAT read: TxSync time:20:51:43.8894

2025-06-25T20:51:42.757Z,1750884702.757 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-25T20:51:42.758Z,1750884702.758 [DAT](INFO): direction in FSK: [0.997697,-0.064518,-0.020942]
2025-06-25T20:51:42.758Z,1750884702.758 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:42.758Z,1750884702.758 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:42.790Z,1750884702.790 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:42.813Z,1750884702.813 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:42.821Z,1750884702.821 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.069737
2025-06-25T20:51:42.989Z,1750884702.989 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.237679
2025-06-25T20:51:43.120Z,1750884703.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 3.531848 s,
      deltaX: -2.200000 m,
      approachRate: -0.622903 m/s,
      rangeRepo size: 4

2025-06-25T20:51:43.122Z,1750884703.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.645734 m,
      bearing: 234.041808 deg,
      lat: 36.906246 deg,
      lon: -122.116369 deg,
      deltaT: 7.061352 s,
      deltaX: -4.259061 m,
      approachRate: -0.603151 m/s,
      posRepo size: 4

2025-06-25T20:51:43.123Z,1750884703.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.65 m. 9.90 m.
2025-06-25T20:51:43.130Z,1750884703.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 5.352951 m,
      bearing: 231.823879 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.571096 deg/s,
      cmd heading: 228.286820 deg,
      new cmd heading: 227.539902 deg.

2025-06-25T20:51:43.131Z,1750884703.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971320 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:43.244Z,1750884703.244 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.492075
2025-06-25T20:51:43.497Z,1750884703.497 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.745472
2025-06-25T20:51:43.497Z,1750884703.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:43.500Z,1750884703.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 5.117754 m,
      bearing: 231.492272 deg,
      approach rate: -0.644998 m/s,
      LOS rate: -0.951177 deg/s,
      cmd heading: 227.539897 deg,
      new cmd heading: 226.499481 deg.

2025-06-25T20:51:43.501Z,1750884703.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953162 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:43.751Z,1750884703.751 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.999313
2025-06-25T20:51:43.894Z,1750884703.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:43.897Z,1750884703.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:43.899Z,1750884703.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 4.870811 m,
      bearing: 231.162158 deg,
      approach rate: -0.593004 m/s,
      LOS rate: -0.832914 deg/s,
      cmd heading: 226.499482 deg,
      new cmd heading: 225.459050 deg.

2025-06-25T20:51:43.900Z,1750884703.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.935003 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:44.002Z,1750884704.002 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.249916
2025-06-25T20:51:44.253Z,1750884704.253 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.501287
2025-06-25T20:51:44.281Z,1750884704.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:44.284Z,1750884704.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 4.641627 m,
      bearing: 230.912792 deg,
      approach rate: -0.595086 m/s,
      LOS rate: -0.679459 deg/s,
      cmd heading: 225.459053 deg,
      new cmd heading: 224.674070 deg.

2025-06-25T20:51:44.285Z,1750884704.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921302 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:44.505Z,1750884704.505 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.753722
2025-06-25T20:51:44.679Z,1750884704.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:44.699Z,1750884704.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 4.404415 m,
      bearing: 230.659451 deg,
      approach rate: -0.596713 m/s,
      LOS rate: -0.671606 deg/s,
      cmd heading: 224.674073 deg,
      new cmd heading: 223.873170 deg.

2025-06-25T20:51:44.706Z,1750884704.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.907324 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:44.759Z,1750884704.759 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.007520
2025-06-25T20:51:45.009Z,1750884705.009 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.257771
2025-06-25T20:51:45.100Z,1750884705.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:45.103Z,1750884705.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 4.160210 m,
      bearing: 230.416876 deg,
      approach rate: -0.580336 m/s,
      LOS rate: -0.610299 deg/s,
      cmd heading: 223.873165 deg,
      new cmd heading: 223.102772 deg.

2025-06-25T20:51:45.104Z,1750884705.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893878 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:45.261Z,1750884705.261 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.509317
2025-06-25T20:51:45.485Z,1750884705.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:45.488Z,1750884705.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 3.936323 m,
      bearing: 230.204270 deg,
      approach rate: -0.580712 m/s,
      LOS rate: -0.582816 deg/s,
      cmd heading: 223.102774 deg,
      new cmd heading: 222.428712 deg.

2025-06-25T20:51:45.489Z,1750884705.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882113 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:45.517Z,1750884705.517 [DAT](INFO): DAT read: Rx Time:20:51:46.2992

2025-06-25T20:51:45.518Z,1750884705.518 [DAT](INFO): Rx dataTimestamp_ set to:1750884705.517396
2025-06-25T20:51:45.519Z,1750884705.519 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.767155
2025-06-25T20:51:45.771Z,1750884705.771 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.019572
2025-06-25T20:51:45.916Z,1750884705.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:45.919Z,1750884705.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:45.925Z,1750884705.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 3.703033 m,
      bearing: 229.989982 deg,
      approach rate: -0.538589 m/s,
      LOS rate: -0.525887 deg/s,
      cmd heading: 222.428717 deg,
      new cmd heading: 221.745384 deg.

2025-06-25T20:51:45.926Z,1750884705.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870187 target range: 9.904795 and range: 5.70 m.
2025-06-25T20:51:46.031Z,1750884706.031 [DAT](INFO): DAT read: 20:51:46.2992 LVL= 32752, 32753, 24050, 32755, AGC= 54, IDX= 412, 0.14,-1.825, 3.005,-1.283,-1.782, PHS= 0.045,-1.449, 0.496, RAW= 162.8,  10.3, CAL= 161.7,   0.4, ROT= 348.3,  -0.4

2025-06-25T20:51:46.033Z,1750884706.033 [DAT](INFO): got valid direction response:
 20:51:46.2992 LVL= 32752, 32753, 24050, 32755, AGC= 54, IDX= 412, 0.14,-1.825, 3.005,-1.283,-1.782, PHS= 0.045,-1.449, 0.496, RAW= 162.8,  10.3, CAL= 161.7,   0.4, ROT= 348.3,  -0.4

2025-06-25T20:51:46.034Z,1750884706.034 [DAT](INFO): DAT read: Bearing 348.3,  -0.4 (Local)

2025-06-25T20:51:46.034Z,1750884706.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3,  -0.4 (Local)

2025-06-25T20:51:46.035Z,1750884706.035 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m  (Round-trip  4.8 ms) speed  0.4 m/s

2025-06-25T20:51:46.037Z,1750884706.037 [DAT](INFO): DAT read: user:750>

2025-06-25T20:51:46.038Z,1750884706.038 [DAT](INFO): DAT read: Tx time:20:51:47.3902

2025-06-25T20:51:46.038Z,1750884706.038 [DAT](INFO): Ping request sent.
2025-06-25T20:51:46.039Z,1750884706.039 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:46.039Z,1750884706.039 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-25T20:51:46.050Z,1750884706.050 [DAT](INFO): direction in FSK: [0.979199,-0.202783,0.006981]
2025-06-25T20:51:46.050Z,1750884706.050 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:46.051Z,1750884706.051 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:46.058Z,1750884706.058 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:46.058Z,1750884706.058 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:46.066Z,1750884706.066 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.027141
2025-06-25T20:51:46.273Z,1750884706.273 [DAT](INFO): DAT read: TxSync time:20:51:47.3894

2025-06-25T20:51:46.274Z,1750884706.274 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.235058
2025-06-25T20:51:46.329Z,1750884706.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.284231 s,
      deltaX: -2.100000 m,
      approachRate: -0.639419 m/s,
      rangeRepo size: 4

2025-06-25T20:51:46.331Z,1750884706.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.565726 m,
      bearing: 221.013444 deg,
      lat: 36.906245 deg,
      lon: -122.116367 deg,
      deltaT: 10.345583 s,
      deltaX: -6.339069 m,
      approachRate: -0.612732 m/s,
      posRepo size: 4

2025-06-25T20:51:46.341Z,1750884706.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.57 m. 9.90 m.
2025-06-25T20:51:46.343Z,1750884706.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 3.475337 m,
      bearing: 229.798134 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.571096 deg/s,
      cmd heading: 221.745384 deg,
      new cmd heading: 221.050021 deg.

2025-06-25T20:51:46.348Z,1750884706.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858051 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:46.525Z,1750884706.525 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.486522
2025-06-25T20:51:46.713Z,1750884706.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:46.718Z,1750884706.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 3.249917 m,
      bearing: 229.634302 deg,
      approach rate: -0.583637 m/s,
      LOS rate: -0.453602 deg/s,
      cmd heading: 221.050016 deg,
      new cmd heading: 220.524442 deg.

2025-06-25T20:51:46.719Z,1750884706.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848878 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:46.780Z,1750884706.780 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.740889
2025-06-25T20:51:47.029Z,1750884707.029 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.990141
2025-06-25T20:51:47.151Z,1750884707.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:47.158Z,1750884707.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 3.007182 m,
      bearing: 229.585622 deg,
      approach rate: -0.550665 m/s,
      LOS rate: -0.119347 deg/s,
      cmd heading: 220.524446 deg,
      new cmd heading: 220.366622 deg.

2025-06-25T20:51:47.159Z,1750884707.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846123 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:47.282Z,1750884707.282 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.242986
2025-06-25T20:51:47.515Z,1750884707.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:47.518Z,1750884707.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 2.798846 m,
      bearing: 229.587935 deg,
      approach rate: -0.572671 m/s,
      LOS rate: 0.006828 deg/s,
      cmd heading: 220.366628 deg,
      new cmd heading: 220.374080 deg.

2025-06-25T20:51:47.519Z,1750884707.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846253 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:47.533Z,1750884707.533 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.494226
2025-06-25T20:51:47.788Z,1750884707.788 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.748541
2025-06-25T20:51:47.918Z,1750884707.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:47.941Z,1750884707.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:47.943Z,1750884707.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 2.571435 m,
      bearing: 229.650048 deg,
      approach rate: -0.534614 m/s,
      LOS rate: 0.158936 deg/s,
      cmd heading: 220.374086 deg,
      new cmd heading: 220.576907 deg.

2025-06-25T20:51:47.949Z,1750884707.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849793 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:48.037Z,1750884708.037 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.998306
2025-06-25T20:51:48.289Z,1750884708.289 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.250208
2025-06-25T20:51:48.316Z,1750884708.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:48.319Z,1750884708.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 2.349329 m,
      bearing: 229.784034 deg,
      approach rate: -0.591699 m/s,
      LOS rate: 0.390687 deg/s,
      cmd heading: 220.576902 deg,
      new cmd heading: 221.016849 deg.

2025-06-25T20:51:48.320Z,1750884708.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857472 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:48.541Z,1750884708.541 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.502248
2025-06-25T20:51:48.718Z,1750884708.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:48.720Z,1750884708.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 2.124246 m,
      bearing: 230.019184 deg,
      approach rate: -0.560505 m/s,
      LOS rate: 0.647619 deg/s,
      cmd heading: 221.016848 deg,
      new cmd heading: 221.796997 deg.

2025-06-25T20:51:48.721Z,1750884708.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871088 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:48.797Z,1750884708.797 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.757486
2025-06-25T20:51:49.045Z,1750884709.045 [DAT](INFO): DAT read: Rx Time:20:51:49.7967

2025-06-25T20:51:49.045Z,1750884709.045 [DAT](INFO): Rx dataTimestamp_ set to:1750884709.044983
2025-06-25T20:51:49.046Z,1750884709.046 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.007207
2025-06-25T20:51:49.149Z,1750884709.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-06-25T20:51:49.151Z,1750884709.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.904795 m,
      nav range: 1.866370 m,
      bearing: 230.361547 deg,
      approach rate: -0.598021 m/s,
      LOS rate: 0.903644 deg/s,
      cmd heading: 221.796992 deg,
      new cmd heading: 222.965827 deg.

2025-06-25T20:51:49.153Z,1750884709.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891488 target range: 9.904795 and range: 3.60 m.
2025-06-25T20:51:49.297Z,1750884709.297 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.258559
2025-06-25T20:51:49.563Z,1750884709.563 [DAT](INFO): DAT read: 20:51:49.7967 LVL= 18336, 19601, 10882, 16451, AGC= 37, IDX= 420, 0.07, 2.144,-2.628, 2.145,-2.626, PHS=-1.425, 0.045,-1.516, RAW= 333.0,  34.0, CAL= 333.8,  35.2, ROT= 176.2, -35.2

2025-06-25T20:51:49.564Z,1750884709.564 [DAT](INFO): got valid direction response:
 20:51:49.7967 LVL= 18336, 19601, 10882, 16451, AGC= 37, IDX= 420, 0.07, 2.144,-2.628, 2.145,-2.626, PHS=-1.425, 0.045,-1.516, RAW= 333.0,  34.0, CAL= 333.8,  35.2, ROT= 176.2, -35.2

2025-06-25T20:51:49.565Z,1750884709.565 [DAT](INFO): DAT read: Bearing 176.2, -35.2 (Local)

2025-06-25T20:51:49.565Z,1750884709.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.2, -35.2 (Local)

2025-06-25T20:51:49.567Z,1750884709.567 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.4 m/s

2025-06-25T20:51:49.567Z,1750884709.567 [DAT](INFO): DAT read: user:751>

2025-06-25T20:51:49.568Z,1750884709.568 [DAT](INFO): DAT read: Tx time:20:51:50.8903

2025-06-25T20:51:49.569Z,1750884709.569 [DAT](INFO): Ping request sent.
2025-06-25T20:51:49.569Z,1750884709.569 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:49.569Z,1750884709.569 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-25T20:51:49.570Z,1750884709.570 [DAT](INFO): direction in FSK: [-0.815348,0.054155,0.576432]
2025-06-25T20:51:49.570Z,1750884709.570 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:49.571Z,1750884709.571 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:49.578Z,1750884709.578 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:49.578Z,1750884709.578 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:49.586Z,1750884709.586 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.016847
2025-06-25T20:51:49.627Z,1750884709.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 3.534418 s,
      deltaX: -1.900000 m,
      approachRate: -0.537571 m/s,
      rangeRepo size: 4

2025-06-25T20:51:49.658Z,1750884709.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.683815 m,
      bearing: 44.233437 deg,
      lat: 36.906245 deg,
      lon: -122.116366 deg,
      deltaT: 13.880001 s,
      deltaX: -8.220980 m,
      approachRate: -0.592290 m/s,
      posRepo size: 4

2025-06-25T20:51:49.659Z,1750884709.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 1.70 m.
2025-06-25T20:51:49.659Z,1750884709.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-25T20:51:49.812Z,1750884709.812 [DAT](INFO): DAT read: TxSync time:20:51:50.8895

2025-06-25T20:51:49.815Z,1750884709.815 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.245526
2025-06-25T20:51:50.036Z,1750884710.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:50.061Z,1750884710.061 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.492277
2025-06-25T20:51:50.313Z,1750884710.313 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.744146
2025-06-25T20:51:50.565Z,1750884710.565 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.996021
2025-06-25T20:51:50.820Z,1750884710.820 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.250515
2025-06-25T20:51:51.069Z,1750884711.069 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.500072
2025-06-25T20:51:51.206Z,1750884711.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.70 m.
2025-06-25T20:51:51.207Z,1750884711.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.70 m.
2025-06-25T20:51:51.207Z,1750884711.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-25T20:51:51.321Z,1750884711.321 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.752751
2025-06-25T20:51:51.573Z,1750884711.573 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.004072
2025-06-25T20:51:51.658Z,1750884711.658 [DockingStepper](INFO): Changing to mode: 1
2025-06-25T20:51:51.658Z,1750884711.658 [DockingStepper](INFO): Standby mode.
2025-06-25T20:51:51.712Z,1750884711.712 [DockingStepper](INFO): Commanding positive:54691
2025-06-25T20:51:51.827Z,1750884711.827 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.257814
2025-06-25T20:51:52.078Z,1750884712.078 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.509069
2025-06-25T20:51:52.329Z,1750884712.329 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.759987
2025-06-25T20:51:52.366Z,1750884712.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:52.581Z,1750884712.581 [DAT](INFO): DAT read: Rx Time:20:51:53.2958

2025-06-25T20:51:52.581Z,1750884712.581 [DAT](INFO): Rx dataTimestamp_ set to:1750884712.581217
2025-06-25T20:51:52.582Z,1750884712.582 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.013335
2025-06-25T20:51:52.836Z,1750884712.836 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.266637
2025-06-25T20:51:53.086Z,1750884713.086 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-25T20:51:53.087Z,1750884713.087 [DAT](INFO): DAT read: user:752>

2025-06-25T20:51:53.087Z,1750884713.087 [DAT](INFO): DAT read: Tx time:20:51:54.3903

2025-06-25T20:51:53.088Z,1750884713.088 [DAT](INFO): Ping request sent.
2025-06-25T20:51:53.088Z,1750884713.088 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:53.088Z,1750884713.088 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-25T20:51:53.088Z,1750884713.088 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:53.089Z,1750884713.089 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:53.090Z,1750884713.090 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.001905
2025-06-25T20:51:53.218Z,1750884713.218 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V
2025-06-25T20:51:53.254Z,1750884713.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.528008 s,
      deltaX: -0.800000 m,
      approachRate: -0.226757 m/s,
      rangeRepo size: 4

2025-06-25T20:51:53.338Z,1750884713.338 [DAT](INFO): DAT read: TxSync time:20:51:54.3895

2025-06-25T20:51:53.339Z,1750884713.339 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.250782
2025-06-25T20:51:53.589Z,1750884713.589 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.501159
2025-06-25T20:51:53.841Z,1750884713.841 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.752884
2025-06-25T20:51:54.097Z,1750884714.097 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.009561
2025-06-25T20:51:54.349Z,1750884714.349 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.260861
2025-06-25T20:51:54.385Z,1750884714.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:54.605Z,1750884714.605 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.516976
2025-06-25T20:51:54.860Z,1750884714.860 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.771302
2025-06-25T20:51:55.109Z,1750884715.109 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.020902
2025-06-25T20:51:55.364Z,1750884715.364 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.275846
2025-06-25T20:51:55.613Z,1750884715.613 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.525010
2025-06-25T20:51:55.866Z,1750884715.866 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.778395
2025-06-25T20:51:56.119Z,1750884716.119 [DAT](INFO): DAT read: Rx Time:20:51:56.7958

2025-06-25T20:51:56.120Z,1750884716.120 [DAT](INFO): Rx dataTimestamp_ set to:1750884716.119183
2025-06-25T20:51:56.122Z,1750884716.122 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.033501
2025-06-25T20:51:56.369Z,1750884716.369 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.280985
2025-06-25T20:51:56.465Z,1750884716.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:56.622Z,1750884716.622 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-25T20:51:56.623Z,1750884716.623 [DAT](INFO): DAT read: user:753>

2025-06-25T20:51:56.624Z,1750884716.624 [DAT](INFO): DAT read: Tx time:20:51:57.8903

2025-06-25T20:51:56.625Z,1750884716.625 [DAT](INFO): Ping request sent.
2025-06-25T20:51:56.625Z,1750884716.625 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:51:56.625Z,1750884716.625 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-06-25T20:51:56.625Z,1750884716.625 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:56.626Z,1750884716.626 [DAT](INFO): publishing transmit ping time
2025-06-25T20:51:56.628Z,1750884716.628 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.002946
2025-06-25T20:51:56.873Z,1750884716.873 [DAT](INFO): DAT read: TxSync time:20:51:57.8895

2025-06-25T20:51:56.874Z,1750884716.874 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.249318
2025-06-25T20:51:56.914Z,1750884716.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.535850 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-25T20:51:57.127Z,1750884717.127 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.502361
2025-06-25T20:51:57.381Z,1750884717.381 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.756144
2025-06-25T20:51:57.633Z,1750884717.633 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.008406
2025-06-25T20:51:57.687Z,1750884717.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 0.90 m. Lat: 36.906245 Lon: -122.116366 Cable present.
2025-06-25T20:51:57.687Z,1750884717.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-25T20:51:57.687Z,1750884717.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-25T20:51:57.689Z,1750884717.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-25T20:51:57.886Z,1750884717.886 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.261233
2025-06-25T20:51:58.109Z,1750884718.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-25T20:51:58.109Z,1750884718.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-25T20:51:58.110Z,1750884718.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-25T20:51:58.137Z,1750884718.137 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.512120
2025-06-25T20:51:58.149Z,1750884718.149 [DockingStepper](INFO): Pause
2025-06-25T20:51:58.390Z,1750884718.390 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.765178
2025-06-25T20:51:58.478Z,1750884718.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:51:58.500Z,1750884718.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-25T20:51:58.501Z,1750884718.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-25T20:51:58.501Z,1750884718.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-25T20:51:58.501Z,1750884718.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-25T20:51:58.502Z,1750884718.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-25T20:51:58.642Z,1750884718.642 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.016682
2025-06-25T20:51:58.887Z,1750884718.887 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-25T20:51:58.887Z,1750884718.887 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-25T20:51:58.887Z,1750884718.887 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-25T20:51:58.887Z,1750884718.887 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-25T20:51:58.887Z,1750884718.887 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-25T20:51:58.888Z,1750884718.888 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-25T20:51:58.888Z,1750884718.888 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-06-25T20:51:58.888Z,1750884718.888 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-25T20:51:58.889Z,1750884718.889 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-25T20:51:58.889Z,1750884718.889 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-25T20:51:58.890Z,1750884718.890 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-25T20:51:58.896Z,1750884718.896 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.270766
2025-06-25T20:51:59.146Z,1750884719.146 [DAT](INFO): DAT read: Rx Time:20:52:00.0207 

2025-06-25T20:51:59.147Z,1750884719.147 [DAT](INFO): Rx dataTimestamp_ set to:1750884719.146420
2025-06-25T20:51:59.148Z,1750884719.148 [DAT](INFO): DAT read: Bearing 297.9, -36.7 (Local)

2025-06-25T20:51:59.149Z,1750884719.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9, -36.7 (Local)

2025-06-25T20:51:59.151Z,1750884719.151 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:51:59.155Z,1750884719.155 [DAT](INFO): DAT read: 20:52:00.0207 LVL= 11616, 10129,  7938, 17955, AGC= 40, IDX= 188,-0.45, 3.130,-3.031,-1.924,-2.132, PHS=-0.933,-0.852, 0.204, RAW= 213.7,  26.9, CAL= 212.1,  36.7, ROT= 297.9, -36.7

2025-06-25T20:51:59.157Z,1750884719.157 [DAT](INFO): got valid direction response:
 20:52:00.0207 LVL= 11616, 10129,  7938, 17955, AGC= 40, IDX= 188,-0.45, 3.130,-3.031,-1.924,-2.132, PHS=-0.933,-0.852, 0.204, RAW= 213.7,  26.9, CAL= 212.1,  36.7, ROT= 297.9, -36.7

2025-06-25T20:51:59.157Z,1750884719.157 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-25T20:51:59.158Z,1750884719.158 [DAT](INFO): direction in FSK: [0.375175,-0.708582,0.597625]
2025-06-25T20:51:59.158Z,1750884719.158 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:59.185Z,1750884719.185 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.560257
2025-06-25T20:51:59.313Z,1750884719.313 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-25T20:51:59.313Z,1750884719.313 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-25T20:51:59.398Z,1750884719.398 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.773028
2025-06-25T20:51:59.650Z,1750884719.650 [DAT](INFO): DAT read: Rx Time:20:52:00.5208 

2025-06-25T20:51:59.651Z,1750884719.651 [DAT](INFO): Rx dataTimestamp_ set to:1750884719.650343
2025-06-25T20:51:59.653Z,1750884719.653 [DAT](INFO): DAT read: Bearing 304.4, -28.8 (Local)

2025-06-25T20:51:59.653Z,1750884719.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.4, -28.8 (Local)

2025-06-25T20:51:59.656Z,1750884719.656 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:51:59.674Z,1750884719.674 [DAT](INFO): DAT read: 20:52:00.5208 LVL= 12528, 14049,  7794, 18339, AGC= 38, IDX= 508,-0.44,-2.517,-2.579,-1.099,-1.488, PHS=-0.941,-1.045, 0.385, RAW= 206.3,  22.3, CAL= 205.6,  28.8, ROT= 304.4, -28.8

2025-06-25T20:51:59.675Z,1750884719.675 [DAT](INFO): got valid direction response:
 20:52:00.5208 LVL= 12528, 14049,  7794, 18339, AGC= 38, IDX= 508,-0.44,-2.517,-2.579,-1.099,-1.488, PHS=-0.941,-1.045, 0.385, RAW= 206.3,  22.3, CAL= 205.6,  28.8, ROT= 304.4, -28.8

2025-06-25T20:51:59.675Z,1750884719.675 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-25T20:51:59.681Z,1750884719.681 [DAT](INFO): direction in FSK: [0.495084,-0.723052,0.481754]
2025-06-25T20:51:59.681Z,1750884719.681 [DAT](INFO): publishing direction and range info
2025-06-25T20:51:59.699Z,1750884719.699 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.073904
2025-06-25T20:51:59.738Z,1750884719.738 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-25T20:51:59.738Z,1750884719.738 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-25T20:51:59.738Z,1750884719.738 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-25T20:51:59.901Z,1750884719.901 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.276017
2025-06-25T20:52:00.154Z,1750884720.154 [DAT](INFO): DAT read: Rx Time:20:52:01.0207 

2025-06-25T20:52:00.154Z,1750884720.154 [DAT](INFO): Rx dataTimestamp_ set to:1750884720.153705
2025-06-25T20:52:00.155Z,1750884720.155 [DAT](INFO): DAT read: Bearing 289.2, -28.2 (Local)

2025-06-25T20:52:00.156Z,1750884720.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.2, -28.2 (Local)

2025-06-25T20:52:00.158Z,1750884720.158 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:00.163Z,1750884720.163 [DAT](INFO): DAT read: 20:52:01.0207 LVL= 13456, 15457, 10066, 19635, AGC= 39, IDX= 507,-0.34, 1.756, 1.956,-3.088, 2.811, PHS=-0.968,-0.809, 0.381, RAW= 216.2,  21.1, CAL= 220.8,  28.2, ROT= 289.2, -28.2

2025-06-25T20:52:00.164Z,1750884720.164 [DAT](INFO): got valid direction response:
 20:52:01.0207 LVL= 13456, 15457, 10066, 19635, AGC= 39, IDX= 507,-0.34, 1.756, 1.956,-3.088, 2.811, PHS=-0.968,-0.809, 0.381, RAW= 216.2,  21.1, CAL= 220.8,  28.2, ROT= 289.2, -28.2

2025-06-25T20:52:00.164Z,1750884720.164 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-25T20:52:00.165Z,1750884720.165 [DAT](INFO): direction in FSK: [0.289832,-0.832282,0.472551]
2025-06-25T20:52:00.165Z,1750884720.165 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:00.170Z,1750884720.170 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.545680
2025-06-25T20:52:00.405Z,1750884720.405 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.780036
2025-06-25T20:52:00.659Z,1750884720.659 [DAT](INFO): DAT read: Rx Time:20:52:01.5208 

2025-06-25T20:52:00.659Z,1750884720.659 [DAT](INFO): Rx dataTimestamp_ set to:1750884720.658742
2025-06-25T20:52:00.661Z,1750884720.661 [DAT](INFO): DAT read: Bearing 276.6, -23.5 (Local)

2025-06-25T20:52:00.662Z,1750884720.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.6, -23.5 (Local)

2025-06-25T20:52:00.664Z,1750884720.664 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:00.669Z,1750884720.669 [DAT](INFO): DAT read: 20:52:01.5208 LVL= 13376, 15521, 11538, 18195, AGC= 39, IDX= 508,-0.29, 2.586, 2.952,-2.166,-2.607, PHS=-1.002,-0.677, 0.438, RAW= 222.4,  18.5, CAL= 233.4,  23.5, ROT= 276.6, -23.5

2025-06-25T20:52:00.670Z,1750884720.670 [DAT](INFO): got valid direction response:
 20:52:01.5208 LVL= 13376, 15521, 11538, 18195, AGC= 39, IDX= 508,-0.29, 2.586, 2.952,-2.166,-2.607, PHS=-1.002,-0.677, 0.438, RAW= 222.4,  18.5, CAL= 233.4,  23.5, ROT= 276.6, -23.5

2025-06-25T20:52:00.670Z,1750884720.670 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-25T20:52:00.671Z,1750884720.671 [DAT](INFO): direction in FSK: [0.105404,-0.910982,0.398749]
2025-06-25T20:52:00.671Z,1750884720.671 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:00.675Z,1750884720.675 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.050406
2025-06-25T20:52:00.909Z,1750884720.909 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=4.284148
2025-06-25T20:52:01.161Z,1750884721.161 [DAT](INFO): DAT read: Rx Time:20:52:02.0207 

2025-06-25T20:52:01.162Z,1750884721.162 [DAT](INFO): Rx dataTimestamp_ set to:1750884721.161581
2025-06-25T20:52:01.163Z,1750884721.163 [DAT](INFO): DAT read: Bearing 271.1, -21.2 (Local)

2025-06-25T20:52:01.163Z,1750884721.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.1, -21.2 (Local)

2025-06-25T20:52:01.166Z,1750884721.166 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:01.171Z,1750884721.171 [DAT](INFO): DAT read: 20:52:02.0207 LVL= 13072, 15313, 12610, 17315, AGC= 39, IDX= 507,-0.20, 0.996, 1.511, 2.628, 2.146, PHS=-1.063,-0.588, 0.478, RAW= 227.5,  16.9, CAL= 238.9,  21.2, ROT= 271.1, -21.2

2025-06-25T20:52:01.179Z,1750884721.179 [DAT](INFO): got valid direction response:
 20:52:02.0207 LVL= 13072, 15313, 12610, 17315, AGC= 39, IDX= 507,-0.20, 0.996, 1.511, 2.628, 2.146, PHS=-1.063,-0.588, 0.478, RAW= 227.5,  16.9, CAL= 238.9,  21.2, ROT= 271.1, -21.2

2025-06-25T20:52:01.180Z,1750884721.180 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-25T20:52:01.181Z,1750884721.181 [DAT](INFO): direction in FSK: [0.017898,-0.932152,0.361625]
2025-06-25T20:52:01.181Z,1750884721.181 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:01.202Z,1750884721.202 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=4.577260
2025-06-25T20:52:01.413Z,1750884721.413 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=4.788304
2025-06-25T20:52:01.666Z,1750884721.666 [DAT](INFO): DAT read: Rx Time:20:52:02.5207 

2025-06-25T20:52:01.666Z,1750884721.666 [DAT](INFO): Rx dataTimestamp_ set to:1750884721.665703
2025-06-25T20:52:01.667Z,1750884721.667 [DAT](INFO): DAT read: Bearing 270.1, -19.7 (Local)

2025-06-25T20:52:01.668Z,1750884721.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.1, -19.7 (Local)

2025-06-25T20:52:01.670Z,1750884721.670 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:01.675Z,1750884721.675 [DAT](INFO): DAT read: 20:52:02.5207 LVL= 12976, 15041, 12738, 17811, AGC= 39, IDX= 507,-0.15, 0.793, 1.343, 2.455, 1.943, PHS=-1.063,-0.553, 0.509, RAW= 228.5,  15.7, CAL= 239.9,  19.7, ROT= 270.1, -19.7

2025-06-25T20:52:01.676Z,1750884721.676 [DAT](INFO): got valid direction response:
 20:52:02.5207 LVL= 12976, 15041, 12738, 17811, AGC= 39, IDX= 507,-0.15, 0.793, 1.343, 2.455, 1.943, PHS=-1.063,-0.553, 0.509, RAW= 228.5,  15.7, CAL= 239.9,  19.7, ROT= 270.1, -19.7

2025-06-25T20:52:01.677Z,1750884721.677 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-25T20:52:01.678Z,1750884721.678 [DAT](INFO): direction in FSK: [0.001643,-0.941469,0.337095]
2025-06-25T20:52:01.678Z,1750884721.678 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:01.682Z,1750884721.682 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=5.057564
2025-06-25T20:52:01.917Z,1750884721.917 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=5.292052
2025-06-25T20:52:02.142Z,1750884722.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:52:02.170Z,1750884722.170 [DAT](INFO): DAT read: Rx Time:20:52:03.0207 

2025-06-25T20:52:02.170Z,1750884722.170 [DAT](INFO): Rx dataTimestamp_ set to:1750884722.169710
2025-06-25T20:52:02.171Z,1750884722.171 [DAT](INFO): DAT read: Bearing 269.8, -19.8 (Local)

2025-06-25T20:52:02.172Z,1750884722.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.8, -19.8 (Local)

2025-06-25T20:52:02.174Z,1750884722.174 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:02.179Z,1750884722.179 [DAT](INFO): DAT read: 20:52:03.0207 LVL= 13024, 15201, 12898, 17555, AGC= 39, IDX= 506,-0.09,-0.398, 0.160, 1.273, 0.763, PHS=-1.073,-0.556, 0.508, RAW= 228.7,  15.8, CAL= 240.2,  19.8, ROT= 269.8, -19.8

2025-06-25T20:52:02.180Z,1750884722.180 [DAT](INFO): got valid direction response:
 20:52:03.0207 LVL= 13024, 15201, 12898, 17555, AGC= 39, IDX= 506,-0.09,-0.398, 0.160, 1.273, 0.763, PHS=-1.073,-0.556, 0.508, RAW= 228.7,  15.8, CAL= 240.2,  19.8, ROT= 269.8, -19.8

2025-06-25T20:52:02.181Z,1750884722.181 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-25T20:52:02.182Z,1750884722.182 [DAT](INFO): direction in FSK: [-0.003285,-0.940875,0.338738]
2025-06-25T20:52:02.182Z,1750884722.182 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:02.193Z,1750884722.193 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.568075
2025-06-25T20:52:02.421Z,1750884722.421 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=5.796090
2025-06-25T20:52:02.577Z,1750884722.577 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-25T20:52:02.577Z,1750884722.577 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-25T20:52:02.577Z,1750884722.577 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-25T20:52:02.578Z,1750884722.578 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-25T20:52:02.675Z,1750884722.675 [DAT](INFO): DAT read: Rx Time:20:52:03.5208 

2025-06-25T20:52:02.675Z,1750884722.675 [DAT](INFO): Rx dataTimestamp_ set to:1750884722.674734
2025-06-25T20:52:02.676Z,1750884722.676 [DAT](INFO): DAT read: Bearing 269.9, -19.2 (Local)

2025-06-25T20:52:02.677Z,1750884722.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.9, -19.2 (Local)

2025-06-25T20:52:02.679Z,1750884722.679 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:02.684Z,1750884722.684 [DAT](INFO): DAT read: 20:52:03.5208 LVL= 11856, 16305, 11730, 15891, AGC= 38, IDX= 508,-0.04, 1.818, 2.379,-2.797, 2.968, PHS=-1.062,-0.541, 0.516, RAW= 228.9,  15.4, CAL= 240.1,  19.2, ROT= 269.9, -19.2

2025-06-25T20:52:02.685Z,1750884722.685 [DAT](INFO): got valid direction response:
 20:52:03.5208 LVL= 11856, 16305, 11730, 15891, AGC= 38, IDX= 508,-0.04, 1.818, 2.379,-2.797, 2.968, PHS=-1.062,-0.541, 0.516, RAW= 228.9,  15.4, CAL= 240.1,  19.2, ROT= 269.9, -19.2

2025-06-25T20:52:02.685Z,1750884722.685 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-25T20:52:02.686Z,1750884722.686 [DAT](INFO): direction in FSK: [-0.001648,-0.944375,0.328867]
2025-06-25T20:52:02.686Z,1750884722.686 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:02.690Z,1750884722.690 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.065347
2025-06-25T20:52:02.925Z,1750884722.925 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=6.300097
2025-06-25T20:52:02.949Z,1750884722.949 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-06-25T20:52:02.949Z,1750884722.949 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-25T20:52:02.957Z,1750884722.957 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-25T20:52:02.958Z,1750884722.958 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-25T20:52:02.959Z,1750884722.959 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-25T20:52:03.177Z,1750884723.177 [DAT](INFO): DAT read: Rx Time:20:52:04.0208 

2025-06-25T20:52:03.178Z,1750884723.178 [DAT](INFO): Rx dataTimestamp_ set to:1750884723.177614
2025-06-25T20:52:03.179Z,1750884723.179 [DAT](INFO): DAT read: Bearing 271.0, -20.4 (Local)

2025-06-25T20:52:03.180Z,1750884723.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.0, -20.4 (Local)

2025-06-25T20:52:03.183Z,1750884723.183 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:03.188Z,1750884723.188 [DAT](INFO): DAT read: 20:52:04.0208 LVL= 14384, 16529, 14642, 19651, AGC= 40, IDX= 507,-0.04, 1.272, 1.804, 2.962, 2.448, PHS=-1.089,-0.597, 0.510, RAW= 227.5,  16.3, CAL= 239.0,  20.4, ROT= 271.0, -20.4

2025-06-25T20:52:03.189Z,1750884723.189 [DAT](INFO): got valid direction response:
 20:52:04.0208 LVL= 14384, 16529, 14642, 19651, AGC= 40, IDX= 507,-0.04, 1.272, 1.804, 2.962, 2.448, PHS=-1.089,-0.597, 0.510, RAW= 227.5,  16.3, CAL= 239.0,  20.4, ROT= 271.0, -20.4

2025-06-25T20:52:03.190Z,1750884723.190 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-25T20:52:03.191Z,1750884723.191 [DAT](INFO): direction in FSK: [0.016358,-0.937139,0.348572]
2025-06-25T20:52:03.191Z,1750884723.191 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:03.195Z,1750884723.195 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.569800
2025-06-25T20:52:03.352Z,1750884723.352 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-25T20:52:03.352Z,1750884723.352 [lineCaptureHoming:Lap:B] Stopped
2025-06-25T20:52:03.352Z,1750884723.352 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-25T20:52:03.352Z,1750884723.352 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-25T20:52:03.429Z,1750884723.429 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.804187
2025-06-25T20:52:03.681Z,1750884723.681 [DAT](INFO): DAT read: Rx Time:20:52:04.5208 

2025-06-25T20:52:03.682Z,1750884723.682 [DAT](INFO): Rx dataTimestamp_ set to:1750884723.681580
2025-06-25T20:52:03.683Z,1750884723.683 [DAT](INFO): DAT read: Bearing 275.5, -21.8 (Local)

2025-06-25T20:52:03.683Z,1750884723.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.5, -21.8 (Local)

2025-06-25T20:52:03.686Z,1750884723.686 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:03.690Z,1750884723.690 [DAT](INFO): DAT read: 20:52:04.5208 LVL= 14928, 16433, 14418, 20083, AGC= 40, IDX= 508, 0.00,-3.135,-2.711,-1.442,-1.953, PHS=-1.093,-0.711, 0.509, RAW= 223.2,  17.5, CAL= 234.5,  21.8, ROT= 275.5, -21.8

2025-06-25T20:52:03.691Z,1750884723.691 [DAT](INFO): got valid direction response:
 20:52:04.5208 LVL= 14928, 16433, 14418, 20083, AGC= 40, IDX= 508, 0.00,-3.135,-2.711,-1.442,-1.953, PHS=-1.093,-0.711, 0.509, RAW= 223.2,  17.5, CAL= 234.5,  21.8, ROT= 275.5, -21.8

2025-06-25T20:52:03.692Z,1750884723.692 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-25T20:52:03.693Z,1750884723.693 [DAT](INFO): direction in FSK: [0.088991,-0.924211,0.371368]
2025-06-25T20:52:03.693Z,1750884723.693 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:03.697Z,1750884723.697 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.072192
2025-06-25T20:52:03.767Z,1750884723.767 [lineCaptureHoming:Lap:C] Stopped
2025-06-25T20:52:03.767Z,1750884723.767 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-25T20:52:03.933Z,1750884723.933 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.308060
2025-06-25T20:52:04.165Z,1750884724.165 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-06-25T20:52:04.165Z,1750884724.165 [lineCaptureHoming:Lap:D] Stopped
2025-06-25T20:52:04.165Z,1750884724.165 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-25T20:52:04.165Z,1750884724.165 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-25T20:52:04.165Z,1750884724.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:52:04.185Z,1750884724.185 [DAT](INFO): DAT read: Rx Time:20:52:05.0208 

2025-06-25T20:52:04.186Z,1750884724.186 [DAT](INFO): Rx dataTimestamp_ set to:1750884724.185657
2025-06-25T20:52:04.187Z,1750884724.187 [DAT](INFO): DAT read: Bearing 280.8, -23.1 (Local)

2025-06-25T20:52:04.188Z,1750884724.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.8, -23.1 (Local)

2025-06-25T20:52:04.190Z,1750884724.190 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:04.195Z,1750884724.195 [DAT](INFO): DAT read: 20:52:05.0208 LVL= 14320, 16369, 14882, 19955, AGC= 40, IDX= 507, 0.06, 2.718, 3.030,-1.839,-2.365, PHS=-1.113,-0.841, 0.523, RAW= 218.9,  18.4, CAL= 229.2,  23.1, ROT= 280.8, -23.1

2025-06-25T20:52:04.196Z,1750884724.196 [DAT](INFO): got valid direction response:
 20:52:05.0208 LVL= 14320, 16369, 14882, 19955, AGC= 40, IDX= 507, 0.06, 2.718, 3.030,-1.839,-2.365, PHS=-1.113,-0.841, 0.523, RAW= 218.9,  18.4, CAL= 229.2,  23.1, ROT= 280.8, -23.1

2025-06-25T20:52:04.196Z,1750884724.196 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-25T20:52:04.197Z,1750884724.197 [DAT](INFO): direction in FSK: [0.172357,-0.903529,0.392337]
2025-06-25T20:52:04.198Z,1750884724.198 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:04.201Z,1750884724.201 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.576496
2025-06-25T20:52:04.437Z,1750884724.437 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.812005
2025-06-25T20:52:04.570Z,1750884724.570 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-25T20:52:04.570Z,1750884724.570 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-25T20:52:04.570Z,1750884724.570 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-25T20:52:04.570Z,1750884724.570 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-06-25T20:52:04.570Z,1750884724.570 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-25T20:52:04.571Z,1750884724.571 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-25T20:52:04.689Z,1750884724.689 [DAT](INFO): DAT read: Rx Time:20:52:05.5208 

2025-06-25T20:52:04.690Z,1750884724.690 [DAT](INFO): Rx dataTimestamp_ set to:1750884724.689624
2025-06-25T20:52:04.691Z,1750884724.691 [DAT](INFO): DAT read: Bearing 279.8, -22.2 (Local)

2025-06-25T20:52:04.692Z,1750884724.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.8, -22.2 (Local)

2025-06-25T20:52:04.694Z,1750884724.694 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:04.719Z,1750884724.719 [DAT](INFO): DAT read: 20:52:05.5208 LVL= 12720, 14929, 13122, 17955, AGC= 39, IDX= 507, 0.12, 2.568, 2.897,-1.971,-2.513, PHS=-1.114,-0.826, 0.539, RAW= 219.4,  18.0, CAL= 230.2,  22.2, ROT= 279.8, -22.2

2025-06-25T20:52:04.725Z,1750884724.725 [DAT](INFO): got valid direction response:
 20:52:05.5208 LVL= 12720, 14929, 13122, 17955, AGC= 39, IDX= 507, 0.12, 2.568, 2.897,-1.971,-2.513, PHS=-1.114,-0.826, 0.539, RAW= 219.4,  18.0, CAL= 230.2,  22.2, ROT= 279.8, -22.2

2025-06-25T20:52:04.725Z,1750884724.725 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-25T20:52:04.726Z,1750884724.726 [DAT](INFO): direction in FSK: [0.157592,-0.912360,0.377841]
2025-06-25T20:52:04.726Z,1750884724.726 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:04.738Z,1750884724.738 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.113514
2025-06-25T20:52:04.941Z,1750884724.941 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.315873
2025-06-25T20:52:04.953Z,1750884724.953 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-25T20:52:04.953Z,1750884724.953 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-25T20:52:04.953Z,1750884724.953 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-25T20:52:04.953Z,1750884724.953 [lineCaptureHoming:restartDHCP] Stopped
2025-06-25T20:52:04.953Z,1750884724.953 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-25T20:52:04.966Z,1750884724.966 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-25T20:52:05.194Z,1750884725.194 [DAT](INFO): DAT read: Rx Time:20:52:06.0207 

2025-06-25T20:52:05.195Z,1750884725.195 [DAT](INFO): Rx dataTimestamp_ set to:1750884725.194383
2025-06-25T20:52:05.196Z,1750884725.196 [DAT](INFO): DAT read: Bearing 274.9, -21.1 (Local)

2025-06-25T20:52:05.197Z,1750884725.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.9, -21.1 (Local)

2025-06-25T20:52:05.199Z,1750884725.199 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:05.205Z,1750884725.205 [DAT](INFO): DAT read: 20:52:06.0207 LVL= 13920, 16305, 15122, 19795, AGC= 40, IDX= 506, 0.20, 0.583, 1.022, 2.294, 1.767, PHS=-1.096,-0.698, 0.524, RAW= 223.6,  17.1, CAL= 235.1,  21.1, ROT= 274.9, -21.1

2025-06-25T20:52:05.206Z,1750884725.206 [DAT](INFO): got valid direction response:
 20:52:06.0207 LVL= 13920, 16305, 15122, 19795, AGC= 40, IDX= 506, 0.20, 0.583, 1.022, 2.294, 1.767, PHS=-1.096,-0.698, 0.524, RAW= 223.6,  17.1, CAL= 235.1,  21.1, ROT= 274.9, -21.1

2025-06-25T20:52:05.207Z,1750884725.207 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-25T20:52:05.208Z,1750884725.208 [DAT](INFO): direction in FSK: [0.079690,-0.929544,0.359997]
2025-06-25T20:52:05.209Z,1750884725.209 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:05.225Z,1750884725.225 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=8.600678
2025-06-25T20:52:05.445Z,1750884725.445 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=8.820114
2025-06-25T20:52:05.455Z,1750884725.455 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-25T20:52:05.455Z,1750884725.455 [lineCaptureHoming:Lap:E] Stopped
2025-06-25T20:52:05.455Z,1750884725.455 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-25T20:52:05.461Z,1750884725.461 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-25T20:52:05.462Z,1750884725.462 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-25T20:52:05.462Z,1750884725.462 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-25T20:52:05.698Z,1750884725.698 [DAT](INFO): DAT read: Rx Time:20:52:06.5208 

2025-06-25T20:52:05.698Z,1750884725.698 [DAT](INFO): Rx dataTimestamp_ set to:1750884725.697705
2025-06-25T20:52:05.699Z,1750884725.699 [DAT](INFO): DAT read: Bearing 271.7, -20.8 (Local)

2025-06-25T20:52:05.700Z,1750884725.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.7, -20.8 (Local)

2025-06-25T20:52:05.702Z,1750884725.702 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:05.707Z,1750884725.707 [DAT](INFO): DAT read: 20:52:06.5208 LVL= 13456, 16561, 15074, 19859, AGC= 40, IDX= 507, 0.31, 1.142, 1.654, 2.818, 2.313, PHS=-1.083,-0.612, 0.503, RAW= 226.8,  16.6, CAL= 238.3,  20.8, ROT= 271.7, -20.8

2025-06-25T20:52:05.708Z,1750884725.708 [DAT](INFO): got valid direction response:
 20:52:06.5208 LVL= 13456, 16561, 15074, 19859, AGC= 40, IDX= 507, 0.31, 1.142, 1.654, 2.818, 2.313, PHS=-1.083,-0.612, 0.503, RAW= 226.8,  16.6, CAL= 238.3,  20.8, ROT= 271.7, -20.8

2025-06-25T20:52:05.709Z,1750884725.709 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-25T20:52:05.710Z,1750884725.710 [DAT](INFO): direction in FSK: [0.027733,-0.934414,0.355107]
2025-06-25T20:52:05.710Z,1750884725.710 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:05.714Z,1750884725.714 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=9.089768
2025-06-25T20:52:05.795Z,1750884725.795 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-06-25T20:52:05.795Z,1750884725.795 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-25T20:52:05.795Z,1750884725.795 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-25T20:52:05.949Z,1750884725.949 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=9.324330
2025-06-25T20:52:06.158Z,1750884726.158 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-25UTC205206_sh
  
2025-06-25T20:52:06.202Z,1750884726.202 [DAT](INFO): DAT read: Rx Time:20:52:07.0207 

2025-06-25T20:52:06.202Z,1750884726.202 [DAT](INFO): Rx dataTimestamp_ set to:1750884726.201850
2025-06-25T20:52:06.203Z,1750884726.203 [DAT](INFO): DAT read: Bearing 272.3, -20.7 (Local)

2025-06-25T20:52:06.204Z,1750884726.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.3, -20.7 (Local)

2025-06-25T20:52:06.206Z,1750884726.206 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:06.212Z,1750884726.212 [DAT](INFO): DAT read: 20:52:07.0207 LVL= 13552, 16721, 14514, 19363, AGC= 40, IDX= 506, 0.39,-0.102, 0.388, 1.550, 1.049, PHS=-1.062,-0.614, 0.498, RAW= 226.2,  16.7, CAL= 237.7,  20.7, ROT= 272.3, -20.7

2025-06-25T20:52:06.213Z,1750884726.213 [DAT](INFO): got valid direction response:
 20:52:07.0207 LVL= 13552, 16721, 14514, 19363, AGC= 40, IDX= 506, 0.39,-0.102, 0.388, 1.550, 1.049, PHS=-1.062,-0.614, 0.498, RAW= 226.2,  16.7, CAL= 237.7,  20.7, ROT= 272.3, -20.7

2025-06-25T20:52:06.213Z,1750884726.213 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-25T20:52:06.214Z,1750884726.214 [DAT](INFO): direction in FSK: [0.037541,-0.934690,0.353475]
2025-06-25T20:52:06.215Z,1750884726.215 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:06.236Z,1750884726.236 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=9.594656
2025-06-25T20:52:06.284Z,1750884726.284 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-25T20:52:06.285Z,1750884726.285 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-25T20:52:06.453Z,1750884726.453 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=9.828155
2025-06-25T20:52:06.681Z,1750884726.681 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-25T20:52:06.681Z,1750884726.681 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-25T20:52:06.681Z,1750884726.681 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-25T20:52:06.682Z,1750884726.682 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-25T20:52:06.706Z,1750884726.706 [DAT](INFO): DAT read: Rx Time:20:52:07.5208 

2025-06-25T20:52:06.706Z,1750884726.706 [DAT](INFO): Rx dataTimestamp_ set to:1750884726.705755
2025-06-25T20:52:06.707Z,1750884726.707 [DAT](INFO): DAT read: Bearing 266.6, -17.6 (Local)

2025-06-25T20:52:06.708Z,1750884726.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.6, -17.6 (Local)

2025-06-25T20:52:06.710Z,1750884726.710 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:06.715Z,1750884726.715 [DAT](INFO): DAT read: 20:52:07.5208 LVL= 12480, 15249, 12498, 17139, AGC= 39, IDX= 508,-0.49,-0.492, 0.132, 1.107, 0.610, PHS=-1.014,-0.432, 0.494, RAW= 232.5,  14.3, CAL= 243.4,  17.6, ROT= 266.6, -17.6

2025-06-25T20:52:06.716Z,1750884726.716 [DAT](INFO): got valid direction response:
 20:52:07.5208 LVL= 12480, 15249, 12498, 17139, AGC= 39, IDX= 508,-0.49,-0.492, 0.132, 1.107, 0.610, PHS=-1.014,-0.432, 0.494, RAW= 232.5,  14.3, CAL= 243.4,  17.6, ROT= 266.6, -17.6

2025-06-25T20:52:06.716Z,1750884726.716 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-25T20:52:06.717Z,1750884726.717 [DAT](INFO): direction in FSK: [-0.056530,-0.951513,0.302370]
2025-06-25T20:52:06.718Z,1750884726.718 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:06.722Z,1750884726.722 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=10.097116
2025-06-25T20:52:06.957Z,1750884726.957 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=10.332016
2025-06-25T20:52:07.089Z,1750884727.089 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-06-25T20:52:07.210Z,1750884727.210 [DAT](INFO): DAT read: Rx Time:20:52:08.0208 

2025-06-25T20:52:07.210Z,1750884727.210 [DAT](INFO): Rx dataTimestamp_ set to:1750884727.209809
2025-06-25T20:52:07.211Z,1750884727.211 [DAT](INFO): DAT read: Bearing 267.5, -17.1 (Local)

2025-06-25T20:52:07.213Z,1750884727.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.5, -17.1 (Local)

2025-06-25T20:52:07.215Z,1750884727.215 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:07.220Z,1750884727.220 [DAT](INFO): DAT read: 20:52:08.0208 LVL= 12576, 15649, 12210, 16723, AGC= 39, IDX= 507,-0.42,-1.707,-1.100,-0.116,-0.623, PHS=-0.995,-0.430, 0.504, RAW= 231.9,  13.9, CAL= 242.5,  17.1, ROT= 267.5, -17.1

2025-06-25T20:52:07.221Z,1750884727.221 [DAT](INFO): got valid direction response:
 20:52:08.0208 LVL= 12576, 15649, 12210, 16723, AGC= 39, IDX= 507,-0.42,-1.707,-1.100,-0.116,-0.623, PHS=-0.995,-0.430, 0.504, RAW= 231.9,  13.9, CAL= 242.5,  17.1, ROT= 267.5, -17.1

2025-06-25T20:52:07.221Z,1750884727.221 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-25T20:52:07.222Z,1750884727.222 [DAT](INFO): direction in FSK: [-0.041691,-0.954883,0.294040]
2025-06-25T20:52:07.223Z,1750884727.223 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:07.226Z,1750884727.226 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=10.601508
2025-06-25T20:52:07.277Z,1750884727.277 [DockingStepper](INFO): Resume
2025-06-25T20:52:07.399Z,1750884727.399 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.10 m/s, pitch 30.00 deg, mass-position 18.47 mm.
2025-06-25T20:52:07.461Z,1750884727.461 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=10.836166
2025-06-25T20:52:07.461Z,1750884727.461 [DAT](INFO): Requesting device enable set for address 50.
2025-06-25T20:52:07.480Z,1750884727.480 [DockingStepper](INFO): Resuming
2025-06-25T20:52:07.713Z,1750884727.713 [DAT](INFO): DAT read: Rx Time:20:52:08.5208 

2025-06-25T20:52:07.714Z,1750884727.714 [DAT](INFO): Rx dataTimestamp_ set to:1750884727.713634
2025-06-25T20:52:07.715Z,1750884727.715 [DAT](INFO): DAT read: Bearing 271.3, -17.7 (Local)

2025-06-25T20:52:07.716Z,1750884727.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.3, -17.7 (Local)

2025-06-25T20:52:07.718Z,1750884727.718 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:07.723Z,1750884727.723 [DAT](INFO): DAT read: 20:52:08.5208 LVL= 11744, 15057, 10562, 14931, AGC= 38, IDX= 508,-0.38, 0.057, 0.589, 1.687, 1.149, PHS=-1.004,-0.512, 0.535, RAW= 228.2,  14.3, CAL= 238.7,  17.7, ROT= 271.3, -17.7

2025-06-25T20:52:07.724Z,1750884727.724 [DAT](INFO): got valid direction response:
 20:52:08.5208 LVL= 11744, 15057, 10562, 14931, AGC= 38, IDX= 508,-0.38, 0.057, 0.589, 1.687, 1.149, PHS=-1.004,-0.512, 0.535, RAW= 228.2,  14.3, CAL= 238.7,  17.7, ROT= 271.3, -17.7

2025-06-25T20:52:07.725Z,1750884727.725 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-25T20:52:07.726Z,1750884727.726 [DAT](INFO): direction in FSK: [0.021613,-0.952416,0.304033]
2025-06-25T20:52:07.726Z,1750884727.726 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:07.730Z,1750884727.730 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=11.105353
2025-06-25T20:52:07.730Z,1750884727.730 [DAT](INFO): Requesting device enable set for address 50.
2025-06-25T20:52:07.899Z,1750884727.899 [DockingStepper](INFO): Start
2025-06-25T20:52:07.904Z,1750884727.904 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-25T20:52:07.965Z,1750884727.965 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=11.340171
2025-06-25T20:52:07.965Z,1750884727.965 [DAT](INFO): Requesting device enable set for address 50.
2025-06-25T20:52:08.027Z,1750884728.027 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-25T20:52:08.217Z,1750884728.217 [DAT](INFO): DAT read: Rx Time:20:52:09.0208 

2025-06-25T20:52:08.218Z,1750884728.218 [DAT](INFO): Rx dataTimestamp_ set to:1750884728.217574
2025-06-25T20:52:08.219Z,1750884728.219 [DAT](INFO): DAT read: Bearing 270.3, -18.1 (Local)

2025-06-25T20:52:08.220Z,1750884728.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.3, -18.1 (Local)

2025-06-25T20:52:08.222Z,1750884728.222 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:08.227Z,1750884728.227 [DAT](INFO): DAT read: 20:52:09.0208 LVL= 11696, 14737, 10546, 15091, AGC= 38, IDX= 507,-0.37,-1.291,-0.754, 0.293,-0.218, PHS=-0.986,-0.489, 0.507, RAW= 229.1,  14.6, CAL= 239.7,  18.1, ROT= 270.3, -18.1

2025-06-25T20:52:08.228Z,1750884728.228 [DAT](INFO): got valid direction response:
 20:52:09.0208 LVL= 11696, 14737, 10546, 15091, AGC= 38, IDX= 507,-0.37,-1.291,-0.754, 0.293,-0.218, PHS=-0.986,-0.489, 0.507, RAW= 229.1,  14.6, CAL= 239.7,  18.1, ROT= 270.3, -18.1

2025-06-25T20:52:08.228Z,1750884728.228 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-25T20:52:08.229Z,1750884728.229 [DAT](INFO): direction in FSK: [0.004977,-0.950503,0.310676]
2025-06-25T20:52:08.229Z,1750884728.229 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:08.233Z,1750884728.233 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=11.608572
2025-06-25T20:52:08.250Z,1750884728.250 [DockingStepper](INFO): Starting
2025-06-25T20:52:08.469Z,1750884728.469 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=11.844058
2025-06-25T20:52:08.611Z,1750884728.611 [DockingStepper](INFO): Starting
2025-06-25T20:52:08.721Z,1750884728.721 [DAT](INFO): DAT read: Rx Time:20:52:09.5208 

2025-06-25T20:52:08.722Z,1750884728.722 [DAT](INFO): Rx dataTimestamp_ set to:1750884728.721552
2025-06-25T20:52:08.723Z,1750884728.723 [DAT](INFO): DAT read: Bearing 274.1, -19.4 (Local)

2025-06-25T20:52:08.723Z,1750884728.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.1, -19.4 (Local)

2025-06-25T20:52:08.726Z,1750884728.726 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:08.730Z,1750884728.730 [DAT](INFO): DAT read: 20:52:09.5208 LVL= 11872, 15025, 10370, 15283, AGC= 38, IDX= 507,-0.33,-0.570,-0.130, 1.043, 0.525, PHS=-1.007,-0.608, 0.515, RAW= 224.6,  15.9, CAL= 235.9,  19.4, ROT= 274.1, -19.4

2025-06-25T20:52:08.740Z,1750884728.740 [DAT](INFO): got valid direction response:
 20:52:09.5208 LVL= 11872, 15025, 10370, 15283, AGC= 38, IDX= 507,-0.33,-0.570,-0.130, 1.043, 0.525, PHS=-1.007,-0.608, 0.515, RAW= 224.6,  15.9, CAL= 235.9,  19.4, ROT= 274.1, -19.4

2025-06-25T20:52:08.741Z,1750884728.741 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-25T20:52:08.742Z,1750884728.742 [DAT](INFO): direction in FSK: [0.067438,-0.940809,0.332161]
2025-06-25T20:52:08.742Z,1750884728.742 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:08.746Z,1750884728.746 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=12.121192
2025-06-25T20:52:08.973Z,1750884728.973 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=12.347955
2025-06-25T20:52:09.126Z,1750884729.126 [DockingStepper](INFO): Starting
2025-06-25T20:52:09.176Z,1750884729.176 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-25T20:52:09.225Z,1750884729.225 [DAT](INFO): DAT read: Rx Time:20:52:10.0207 

2025-06-25T20:52:09.226Z,1750884729.226 [DAT](INFO): Rx dataTimestamp_ set to:1750884729.225689
2025-06-25T20:52:09.227Z,1750884729.227 [DAT](INFO): DAT read: Bearing 275.6, -21.0 (Local)

2025-06-25T20:52:09.228Z,1750884729.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.6, -21.0 (Local)

2025-06-25T20:52:09.230Z,1750884729.230 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:09.238Z,1750884729.238 [DAT](INFO): DAT read: 20:52:10.0207 LVL= 13472, 15633, 11874, 17363, AGC= 39, IDX= 506,-0.34,-1.046,-0.653, 0.550, 0.055, PHS=-1.013,-0.661, 0.492, RAW= 222.9,  17.0, CAL= 234.4,  21.0, ROT= 275.6, -21.0

2025-06-25T20:52:09.239Z,1750884729.239 [DAT](INFO): got valid direction response:
 20:52:10.0207 LVL= 13472, 15633, 11874, 17363, AGC= 39, IDX= 506,-0.34,-1.046,-0.653, 0.550, 0.055, PHS=-1.013,-0.661, 0.492, RAW= 222.9,  17.0, CAL= 234.4,  21.0, ROT= 275.6, -21.0

2025-06-25T20:52:09.240Z,1750884729.240 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-25T20:52:09.241Z,1750884729.241 [DAT](INFO): direction in FSK: [0.091102,-0.929125,0.358368]
2025-06-25T20:52:09.242Z,1750884729.242 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:09.246Z,1750884729.246 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=12.621399
2025-06-25T20:52:09.458Z,1750884729.458 [DockingStepper](INFO): Starting
2025-06-25T20:52:09.477Z,1750884729.477 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=12.852254
2025-06-25T20:52:09.729Z,1750884729.729 [DAT](INFO): DAT read: Rx Time:20:52:10.5208 

2025-06-25T20:52:09.730Z,1750884729.730 [DAT](INFO): Rx dataTimestamp_ set to:1750884729.729676
2025-06-25T20:52:09.731Z,1750884729.731 [DAT](INFO): DAT read: Bearing 274.1, -22.0 (Local)

2025-06-25T20:52:09.732Z,1750884729.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.1, -22.0 (Local)

2025-06-25T20:52:09.734Z,1750884729.734 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:09.739Z,1750884729.739 [DAT](INFO): DAT read: 20:52:10.5208 LVL= 13552, 15681, 11970, 17427, AGC= 39, IDX= 507,-0.31, 0.038, 0.465, 1.606, 1.143, PHS=-1.017,-0.631, 0.461, RAW= 224.6,  17.5, CAL= 235.9,  22.0, ROT= 274.1, -22.0

2025-06-25T20:52:09.740Z,1750884729.740 [DAT](INFO): got valid direction response:
 20:52:10.5208 LVL= 13552, 15681, 11970, 17427, AGC= 39, IDX= 507,-0.31, 0.038, 0.465, 1.606, 1.143, PHS=-1.017,-0.631, 0.461, RAW= 224.6,  17.5, CAL= 235.9,  22.0, ROT= 274.1, -22.0

2025-06-25T20:52:09.740Z,1750884729.740 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-25T20:52:09.741Z,1750884729.741 [DAT](INFO): direction in FSK: [0.066291,-0.924811,0.374607]
2025-06-25T20:52:09.741Z,1750884729.741 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:09.746Z,1750884729.746 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=13.120764
2025-06-25T20:52:09.895Z,1750884729.895 [DockingStepper](INFO): Starting
2025-06-25T20:52:09.981Z,1750884729.981 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=13.356119
2025-06-25T20:52:10.234Z,1750884730.234 [DAT](INFO): DAT read: Rx Time:20:52:11.0207 

2025-06-25T20:52:10.234Z,1750884730.234 [DAT](INFO): Rx dataTimestamp_ set to:1750884730.233719
2025-06-25T20:52:10.235Z,1750884730.235 [DAT](INFO): DAT read: Bearing 278.1, -24.1 (Local)

2025-06-25T20:52:10.236Z,1750884730.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.1, -24.1 (Local)

2025-06-25T20:52:10.238Z,1750884730.238 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:10.240Z,1750884730.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-25T20:52:10.244Z,1750884730.244 [DAT](INFO): DAT read: 20:52:11.0207 LVL= 15264, 17441, 13394, 19891, AGC= 40, IDX= 506,-0.29,-0.457,-0.113, 1.114, 0.663, PHS=-1.032,-0.729, 0.448, RAW= 221.2,  18.9, CAL= 231.9,  24.1, ROT= 278.1, -24.1

2025-06-25T20:52:10.245Z,1750884730.245 [DAT](INFO): got valid direction response:
 20:52:11.0207 LVL= 15264, 17441, 13394, 19891, AGC= 40, IDX= 506,-0.29,-0.457,-0.113, 1.114, 0.663, PHS=-1.032,-0.729, 0.448, RAW= 221.2,  18.9, CAL= 231.9,  24.1, ROT= 278.1, -24.1

2025-06-25T20:52:10.245Z,1750884730.245 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-25T20:52:10.246Z,1750884730.246 [DAT](INFO): direction in FSK: [0.128620,-0.903727,0.408330]
2025-06-25T20:52:10.246Z,1750884730.246 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:10.255Z,1750884730.255 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=13.629949
2025-06-25T20:52:10.313Z,1750884730.313 [DockingStepper](INFO): Starting
2025-06-25T20:52:10.485Z,1750884730.485 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=13.859994
2025-06-25T20:52:10.635Z,1750884730.635 [DockingStepper](INFO): Starting
2025-06-25T20:52:10.660Z,1750884730.660 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-25T20:52:10.737Z,1750884730.737 [DAT](INFO): DAT read: Rx Time:20:52:11.5208 

2025-06-25T20:52:10.738Z,1750884730.738 [DAT](INFO): Rx dataTimestamp_ set to:1750884730.737615
2025-06-25T20:52:10.739Z,1750884730.739 [DAT](INFO): DAT read: Bearing 285.7, -25.6 (Local)

2025-06-25T20:52:10.740Z,1750884730.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.7, -25.6 (Local)

2025-06-25T20:52:10.743Z,1750884730.743 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:10.747Z,1750884730.747 [DAT](INFO): DAT read: 20:52:11.5208 LVL= 13904, 15473, 12066, 17827, AGC= 39, IDX= 507,-0.25, 1.337, 1.580, 2.937, 2.476, PHS=-1.051,-0.849, 0.458, RAW= 217.1,  19.8, CAL= 224.3,  25.6, ROT= 285.7, -25.6

2025-06-25T20:52:10.748Z,1750884730.748 [DAT](INFO): got valid direction response:
 20:52:11.5208 LVL= 13904, 15473, 12066, 17827, AGC= 39, IDX= 507,-0.25, 1.337, 1.580, 2.937, 2.476, PHS=-1.051,-0.849, 0.458, RAW= 217.1,  19.8, CAL= 224.3,  25.6, ROT= 285.7, -25.6

2025-06-25T20:52:10.749Z,1750884730.749 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-25T20:52:10.750Z,1750884730.750 [DAT](INFO): direction in FSK: [0.244036,-0.868187,0.432086]
2025-06-25T20:52:10.750Z,1750884730.750 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:10.764Z,1750884730.764 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=14.139414
2025-06-25T20:52:10.991Z,1750884730.991 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=14.366117
2025-06-25T20:52:11.173Z,1750884731.173 [DockingStepper](INFO): Starting
2025-06-25T20:52:11.245Z,1750884731.245 [DAT](INFO): DAT read: Rx Time:20:52:12.0208 

2025-06-25T20:52:11.246Z,1750884731.246 [DAT](INFO): Rx dataTimestamp_ set to:1750884731.245556
2025-06-25T20:52:11.247Z,1750884731.247 [DAT](INFO): DAT read: Bearing 283.7, -25.1 (Local)

2025-06-25T20:52:11.247Z,1750884731.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.7, -25.1 (Local)

2025-06-25T20:52:11.250Z,1750884731.250 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:11.254Z,1750884731.254 [DAT](INFO): DAT read: 20:52:12.0208 LVL= 13904, 15473, 12274, 17891, AGC= 39, IDX= 506,-0.22, 0.116, 0.382, 1.720, 1.256, PHS=-1.052,-0.828, 0.461, RAW= 217.9,  19.5, CAL= 226.3,  25.1, ROT= 283.7, -25.1

2025-06-25T20:52:11.255Z,1750884731.255 [DAT](INFO): got valid direction response:
 20:52:12.0208 LVL= 13904, 15473, 12274, 17891, AGC= 39, IDX= 506,-0.22, 0.116, 0.382, 1.720, 1.256, PHS=-1.052,-0.828, 0.461, RAW= 217.9,  19.5, CAL= 226.3,  25.1, ROT= 283.7, -25.1

2025-06-25T20:52:11.256Z,1750884731.256 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-25T20:52:11.257Z,1750884731.257 [DAT](INFO): direction in FSK: [0.214474,-0.879804,0.424199]
2025-06-25T20:52:11.257Z,1750884731.257 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:11.262Z,1750884731.262 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=14.636787
2025-06-25T20:52:11.262Z,1750884731.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:52:11.475Z,1750884731.475 [DockingStepper](INFO): Changing to mode: 1
2025-06-25T20:52:11.475Z,1750884731.475 [DockingStepper](INFO): Standby mode.
2025-06-25T20:52:11.499Z,1750884731.499 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=14.873588
2025-06-25T20:52:11.752Z,1750884731.752 [DAT](INFO): DAT read: Rx Time:20:52:12.5208 

2025-06-25T20:52:11.753Z,1750884731.753 [DAT](INFO): Rx dataTimestamp_ set to:1750884731.752520
2025-06-25T20:52:11.754Z,1750884731.754 [DAT](INFO): DAT read: Bearing 279.4, -23.9 (Local)

2025-06-25T20:52:11.754Z,1750884731.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.4, -23.9 (Local)

2025-06-25T20:52:11.757Z,1750884731.757 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:11.761Z,1750884731.761 [DAT](INFO): DAT read: 20:52:12.5208 LVL= 15136, 17137, 14066, 20243, AGC= 40, IDX= 507,-0.17, 1.182, 1.509, 2.806, 2.330, PHS=-1.060,-0.774, 0.473, RAW= 220.1,  18.8, CAL= 230.6,  23.9, ROT= 279.4, -23.9

2025-06-25T20:52:11.762Z,1750884731.762 [DAT](INFO): got valid direction response:
 20:52:12.5208 LVL= 15136, 17137, 14066, 20243, AGC= 40, IDX= 507,-0.17, 1.182, 1.509, 2.806, 2.330, PHS=-1.060,-0.774, 0.473, RAW= 220.1,  18.8, CAL= 230.6,  23.9, ROT= 279.4, -23.9

2025-06-25T20:52:11.763Z,1750884731.763 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-25T20:52:11.764Z,1750884731.764 [DAT](INFO): direction in FSK: [0.149322,-0.901977,0.405142]
2025-06-25T20:52:11.765Z,1750884731.765 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:11.768Z,1750884731.768 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.143465
2025-06-25T20:52:12.004Z,1750884732.004 [DAT](INFO): DAT read: Rx Time:20:52:13.0208 

2025-06-25T20:52:12.005Z,1750884732.005 [DAT](INFO): Rx dataTimestamp_ set to:1750884732.004368
2025-06-25T20:52:12.007Z,1750884732.007 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.382244
2025-06-25T20:52:12.254Z,1750884732.254 [DAT](INFO): DAT read: Bearing 280.5, -23.5 (Local)

2025-06-25T20:52:12.254Z,1750884732.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.5, -23.5 (Local)

2025-06-25T20:52:12.256Z,1750884732.256 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:12.261Z,1750884732.261 [DAT](INFO): DAT read: 20:52:13.0208 LVL= 15408, 16625, 14530, 20883, AGC= 40, IDX= 506,-0.14, 0.445, 0.762, 2.134, 1.628, PHS=-1.095,-0.819, 0.504, RAW= 219.3,  18.6, CAL= 229.5,  23.5, ROT= 280.5, -23.5

2025-06-25T20:52:12.262Z,1750884732.262 [DAT](INFO): got valid direction response:
 20:52:13.0208 LVL= 15408, 16625, 14530, 20883, AGC= 40, IDX= 506,-0.14, 0.445, 0.762, 2.134, 1.628, PHS=-1.095,-0.819, 0.504, RAW= 219.3,  18.6, CAL= 229.5,  23.5, ROT= 280.5, -23.5

2025-06-25T20:52:12.262Z,1750884732.262 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-25T20:52:12.263Z,1750884732.263 [DAT](INFO): direction in FSK: [0.167121,-0.901704,0.398749]
2025-06-25T20:52:12.265Z,1750884732.265 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:12.268Z,1750884732.268 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=15.643492
2025-06-25T20:52:12.508Z,1750884732.508 [DAT](INFO): DAT read: Rx Time:20:52:13.5208 

2025-06-25T20:52:12.509Z,1750884732.509 [DAT](INFO): Rx dataTimestamp_ set to:1750884732.508464
2025-06-25T20:52:12.515Z,1750884732.515 [DAT](INFO): DAT read: Bearing 276.9, -22.9 (Local)

2025-06-25T20:52:12.520Z,1750884732.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.9, -22.9 (Local)

2025-06-25T20:52:12.525Z,1750884732.525 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:12.527Z,1750884732.527 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-06-25T20:52:12.560Z,1750884732.560 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=15.935484
2025-06-25T20:52:12.762Z,1750884732.762 [DAT](INFO): DAT read: 20:52:13.5208 LVL= 15328, 16305, 14594, 21155, AGC= 40, IDX= 506,-0.11, 0.272, 0.671, 1.997, 1.485, PHS=-1.126,-0.768, 0.509, RAW= 222.0,  18.2, CAL= 233.1,  22.9, ROT= 276.9, -22.9

2025-06-25T20:52:12.764Z,1750884732.764 [DAT](INFO): got valid direction response:
 20:52:13.5208 LVL= 15328, 16305, 14594, 21155, AGC= 40, IDX= 506,-0.11, 0.272, 0.671, 1.997, 1.485, PHS=-1.126,-0.768, 0.509, RAW= 222.0,  18.2, CAL= 233.1,  22.9, ROT= 276.9, -22.9

2025-06-25T20:52:12.764Z,1750884732.764 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-06-25T20:52:12.766Z,1750884732.766 [DAT](INFO): direction in FSK: [0.110668,-0.914514,0.389124]
2025-06-25T20:52:12.770Z,1750884732.770 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=16.145205
2025-06-25T20:52:13.013Z,1750884733.013 [DAT](INFO): DAT read: Rx Time:20:52:14.0207 

2025-06-25T20:52:13.014Z,1750884733.014 [DAT](INFO): Rx dataTimestamp_ set to:1750884733.013278
2025-06-25T20:52:13.017Z,1750884733.017 [DAT](INFO): DAT read: Bearing 280.3, -24.6 (Local)

2025-06-25T20:52:13.018Z,1750884733.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.3, -24.6 (Local)

2025-06-25T20:52:13.021Z,1750884733.021 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=16.394953
2025-06-25T20:52:13.262Z,1750884733.262 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:13.267Z,1750884733.267 [DAT](INFO): DAT read: 20:52:14.0207 LVL= 14960, 16097, 15250, 21107, AGC= 40, IDX= 505,-0.07,-0.379,-0.041, 1.363, 0.860, PHS=-1.151,-0.853, 0.501, RAW= 219.7,  19.2, CAL= 229.7,  24.6, ROT= 280.3, -24.6

2025-06-25T20:52:13.269Z,1750884733.269 [DAT](INFO): got valid direction response:
 20:52:14.0207 LVL= 14960, 16097, 15250, 21107, AGC= 40, IDX= 505,-0.07,-0.379,-0.041, 1.363, 0.860, PHS=-1.151,-0.853, 0.501, RAW= 219.7,  19.2, CAL= 229.7,  24.6, ROT= 280.3, -24.6

2025-06-25T20:52:13.269Z,1750884733.269 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-25T20:52:13.270Z,1750884733.270 [DAT](INFO): direction in FSK: [0.162573,-0.894584,0.416281]
2025-06-25T20:52:13.271Z,1750884733.271 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:13.274Z,1750884733.274 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=16.649498
2025-06-25T20:52:13.517Z,1750884733.517 [DAT](INFO): DAT read: Rx Time:20:52:14.5208 

2025-06-25T20:52:13.518Z,1750884733.518 [DAT](INFO): Rx dataTimestamp_ set to:1750884733.517426
2025-06-25T20:52:13.522Z,1750884733.522 [DAT](INFO): DAT read: Bearing 276.0, -24.6 (Local)

2025-06-25T20:52:13.523Z,1750884733.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.0, -24.6 (Local)

2025-06-25T20:52:13.529Z,1750884733.529 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:13.531Z,1750884733.531 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-06-25T20:52:13.551Z,1750884733.551 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=16.925280
2025-06-25T20:52:13.769Z,1750884733.769 [DAT](INFO): DAT read: 20:52:14.5208 LVL= 16928, 17745, 16962, 23987, AGC= 41, IDX= 506,-0.05, 0.778, 1.212, 2.510, 2.032, PHS=-1.165,-0.773, 0.475, RAW= 223.2,  19.2, CAL= 234.0,  24.6, ROT= 276.0, -24.6

2025-06-25T20:52:13.770Z,1750884733.770 [DAT](INFO): got valid direction response:
 20:52:14.5208 LVL= 16928, 17745, 16962, 23987, AGC= 41, IDX= 506,-0.05, 0.778, 1.212, 2.510, 2.032, PHS=-1.165,-0.773, 0.475, RAW= 223.2,  19.2, CAL= 234.0,  24.6, ROT= 276.0, -24.6

2025-06-25T20:52:13.771Z,1750884733.771 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-06-25T20:52:13.772Z,1750884733.772 [DAT](INFO): direction in FSK: [0.095041,-0.904255,0.416281]
2025-06-25T20:52:13.775Z,1750884733.775 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=17.150545
2025-06-25T20:52:14.021Z,1750884734.021 [DAT](INFO): DAT read: Rx Time:20:52:15.0208 

2025-06-25T20:52:14.022Z,1750884734.022 [DAT](INFO): Rx dataTimestamp_ set to:1750884734.021304
2025-06-25T20:52:14.025Z,1750884734.025 [DAT](INFO): DAT read: Bearing 280.2, -26.1 (Local)

2025-06-25T20:52:14.026Z,1750884734.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.2, -26.1 (Local)

2025-06-25T20:52:14.031Z,1750884734.031 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:14.033Z,1750884734.033 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-06-25T20:52:14.037Z,1750884734.037 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=17.411934
2025-06-25T20:52:14.273Z,1750884734.273 [DAT](INFO): DAT read: 20:52:15.0208 LVL= 15152, 15777, 15282, 21843, AGC= 40, IDX= 505,-0.01, 0.068, 0.418, 1.818, 1.337, PHS=-1.180,-0.872, 0.478, RAW= 220.1,  20.0, CAL= 229.8,  26.1, ROT= 280.2, -26.1

2025-06-25T20:52:14.274Z,1750884734.274 [DAT](INFO): got valid direction response:
 20:52:15.0208 LVL= 15152, 15777, 15282, 21843, AGC= 40, IDX= 505,-0.01, 0.068, 0.418, 1.818, 1.337, PHS=-1.180,-0.872, 0.478, RAW= 220.1,  20.0, CAL= 229.8,  26.1, ROT= 280.2, -26.1

2025-06-25T20:52:14.274Z,1750884734.274 [DAT](INFO): #Rx 53: Read direction message, but no range.
2025-06-25T20:52:14.275Z,1750884734.275 [DAT](INFO): direction in FSK: [0.159027,-0.883835,0.439939]
2025-06-25T20:52:14.279Z,1750884734.279 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=17.654490
2025-06-25T20:52:14.524Z,1750884734.524 [DAT](INFO): DAT read: Rx Time:20:52:15.5208 

2025-06-25T20:52:14.526Z,1750884734.526 [DAT](INFO): Rx dataTimestamp_ set to:1750884734.525094
2025-06-25T20:52:14.529Z,1750884734.529 [DAT](INFO): DAT read: Bearing 287.3, -28.5 (Local)

2025-06-25T20:52:14.530Z,1750884734.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.3, -28.5 (Local)

2025-06-25T20:52:14.535Z,1750884734.535 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:14.541Z,1750884734.541 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-06-25T20:52:14.549Z,1750884734.549 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=17.922329
2025-06-25T20:52:14.778Z,1750884734.778 [DAT](INFO): DAT read: 20:52:15.5208 LVL= 15200, 15793, 15746, 21699, AGC= 40, IDX= 506, 0.02, 1.807, 2.073,-2.732, 3.091, PHS=-1.196,-0.972, 0.456, RAW= 217.2,  21.3, CAL= 222.7,  28.5, ROT= 287.3, -28.5

2025-06-25T20:52:14.779Z,1750884734.779 [DAT](INFO): got valid direction response:
 20:52:15.5208 LVL= 15200, 15793, 15746, 21699, AGC= 40, IDX= 506, 0.02, 1.807, 2.073,-2.732, 3.091, PHS=-1.196,-0.972, 0.456, RAW= 217.2,  21.3, CAL= 222.7,  28.5, ROT= 287.3, -28.5

2025-06-25T20:52:14.779Z,1750884734.779 [DAT](INFO): #Rx 55: Read direction message, but no range.
2025-06-25T20:52:14.780Z,1750884734.780 [DAT](INFO): direction in FSK: [0.261338,-0.839060,0.477159]
2025-06-25T20:52:14.784Z,1750884734.784 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=18.158764
2025-06-25T20:52:15.029Z,1750884735.029 [DAT](INFO): DAT read: Rx Time:20:52:16.0208 

2025-06-25T20:52:15.031Z,1750884735.031 [DAT](INFO): Rx dataTimestamp_ set to:1750884735.029524
2025-06-25T20:52:15.034Z,1750884735.034 [DAT](INFO): DAT read: Bearing 286.0, -29.1 (Local)

2025-06-25T20:52:15.035Z,1750884735.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.0, -29.1 (Local)

2025-06-25T20:52:15.049Z,1750884735.049 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:15.051Z,1750884735.051 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-25T20:52:15.058Z,1750884735.058 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=18.433435
2025-06-25T20:52:15.281Z,1750884735.281 [DAT](INFO): DAT read: 20:52:16.0208 LVL= 16368, 17249, 17170, 24403, AGC= 41, IDX= 505, 0.06, 0.575, 0.860, 2.304, 1.863, PHS=-1.200,-0.955, 0.438, RAW= 217.9,  21.6, CAL= 224.0,  29.1, ROT= 286.0, -29.1

2025-06-25T20:52:15.282Z,1750884735.282 [DAT](INFO): got valid direction response:
 20:52:16.0208 LVL= 16368, 17249, 17170, 24403, AGC= 41, IDX= 505, 0.06, 0.575, 0.860, 2.304, 1.863, PHS=-1.200,-0.955, 0.438, RAW= 217.9,  21.6, CAL= 224.0,  29.1, ROT= 286.0, -29.1

2025-06-25T20:52:15.283Z,1750884735.283 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-06-25T20:52:15.284Z,1750884735.284 [DAT](INFO): direction in FSK: [0.240844,-0.839924,0.486335]
2025-06-25T20:52:15.287Z,1750884735.287 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=18.662418
2025-06-25T20:52:15.535Z,1750884735.535 [DAT](INFO): DAT read: Rx Time:20:52:16.5208 

2025-06-25T20:52:15.537Z,1750884735.537 [DAT](INFO): Rx dataTimestamp_ set to:1750884735.536249
2025-06-25T20:52:15.541Z,1750884735.541 [DAT](INFO): DAT read: Bearing 293.5, -31.1 (Local)

2025-06-25T20:52:15.542Z,1750884735.542 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.5, -31.1 (Local)

2025-06-25T20:52:15.548Z,1750884735.548 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:15.550Z,1750884735.550 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-25T20:52:15.592Z,1750884735.592 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=18.967758
2025-06-25T20:52:15.786Z,1750884735.786 [DAT](INFO): DAT read: 20:52:16.5208 LVL= 16736, 16929, 17586, 24563, AGC= 41, IDX= 506, 0.12, 2.346, 2.535,-2.211,-2.629, PHS=-1.220,-1.072, 0.415, RAW= 214.7,  23.0, CAL= 216.5,  31.1, ROT= 293.5, -31.1

2025-06-25T20:52:15.787Z,1750884735.787 [DAT](INFO): got valid direction response:
 20:52:16.5208 LVL= 16736, 16929, 17586, 24563, AGC= 41, IDX= 506, 0.12, 2.346, 2.535,-2.211,-2.629, PHS=-1.220,-1.072, 0.415, RAW= 214.7,  23.0, CAL= 216.5,  31.1, ROT= 293.5, -31.1

2025-06-25T20:52:15.787Z,1750884735.787 [DAT](INFO): #Rx 59: Read direction message, but no range.
2025-06-25T20:52:15.788Z,1750884735.788 [DAT](INFO): direction in FSK: [0.341436,-0.785248,0.516533]
2025-06-25T20:52:15.791Z,1750884735.791 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=19.166697
2025-06-25T20:52:16.037Z,1750884736.037 [DAT](INFO): DAT read: Rx Time:20:52:17.0208 

2025-06-25T20:52:16.039Z,1750884736.039 [DAT](INFO): Rx dataTimestamp_ set to:1750884736.037785
2025-06-25T20:52:16.055Z,1750884736.055 [DAT](INFO): DAT read: Bearing 279.2, -29.0 (Local)

2025-06-25T20:52:16.057Z,1750884736.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.2, -29.0 (Local)

2025-06-25T20:52:16.060Z,1750884736.060 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:16.065Z,1750884736.065 [DAT](INFO): DAT read: 20:52:17.0208 LVL= 16096, 16769, 17762, 24691, AGC= 41, IDX= 505, 0.20, 0.305, 0.679, 2.026, 1.605, PHS=-1.212,-0.880, 0.418, RAW= 221.1,  21.6, CAL= 230.8,  29.0, ROT= 279.2, -29.0

2025-06-25T20:52:16.066Z,1750884736.066 [DAT](INFO): got valid direction response:
 20:52:17.0208 LVL= 16096, 16769, 17762, 24691, AGC= 41, IDX= 505, 0.20, 0.305, 0.679, 2.026, 1.605, PHS=-1.212,-0.880, 0.418, RAW= 221.1,  21.6, CAL= 230.8,  29.0, ROT= 279.2, -29.0

2025-06-25T20:52:16.066Z,1750884736.066 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-25T20:52:16.067Z,1750884736.067 [DAT](INFO): direction in FSK: [0.139836,-0.863369,0.484810]
2025-06-25T20:52:16.076Z,1750884736.076 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:16.079Z,1750884736.079 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=19.454638
2025-06-25T20:52:16.285Z,1750884736.285 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=19.660257
2025-06-25T20:52:16.541Z,1750884736.541 [DAT](INFO): DAT read: Rx Time:20:52:17.5208 

2025-06-25T20:52:16.543Z,1750884736.543 [DAT](INFO): Rx dataTimestamp_ set to:1750884736.541756
2025-06-25T20:52:16.547Z,1750884736.547 [DAT](INFO): DAT read: Bearing 272.0, -25.4 (Local)

2025-06-25T20:52:16.548Z,1750884736.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.0, -25.4 (Local)

2025-06-25T20:52:16.554Z,1750884736.554 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:16.557Z,1750884736.557 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-06-25T20:52:16.559Z,1750884736.559 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=19.933886
2025-06-25T20:52:16.794Z,1750884736.794 [DAT](INFO): DAT read: 20:52:17.5208 LVL= 14624, 16369, 16354, 22451, AGC= 40, IDX= 505, 0.32,-0.721,-0.194, 0.993, 0.559, PHS=-1.192,-0.706, 0.431, RAW= 227.0,  19.8, CAL= 238.0,  25.4, ROT= 272.0, -25.4

2025-06-25T20:52:16.796Z,1750884736.796 [DAT](INFO): got valid direction response:
 20:52:17.5208 LVL= 14624, 16369, 16354, 22451, AGC= 40, IDX= 505, 0.32,-0.721,-0.194, 0.993, 0.559, PHS=-1.192,-0.706, 0.431, RAW= 227.0,  19.8, CAL= 238.0,  25.4, ROT= 272.0, -25.4

2025-06-25T20:52:16.797Z,1750884736.797 [DAT](INFO): #Rx 62: Read direction message, but no range.
2025-06-25T20:52:16.798Z,1750884736.798 [DAT](INFO): direction in FSK: [0.031526,-0.902785,0.428935]
2025-06-25T20:52:16.803Z,1750884736.803 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=20.178387
2025-06-25T20:52:17.050Z,1750884737.050 [DAT](INFO): DAT read: Rx Time:20:52:18.0207 

2025-06-25T20:52:17.052Z,1750884737.052 [DAT](INFO): Rx dataTimestamp_ set to:1750884737.050684
2025-06-25T20:52:17.056Z,1750884737.056 [DAT](INFO): DAT read: Bearing 265.0, -22.4 (Local)

2025-06-25T20:52:17.057Z,1750884737.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.0, -22.4 (Local)

2025-06-25T20:52:17.061Z,1750884737.061 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:17.065Z,1750884737.065 [DAT](INFO): DAT read: 20:52:18.0207 LVL= 15856, 16625, 17826, 25075, AGC= 41, IDX= 504, 0.44,-2.855,-2.188,-1.170,-1.596, PHS=-1.170,-0.544, 0.423, RAW= 232.9,  18.2, CAL= 245.0,  22.4, ROT= 265.0, -22.4

2025-06-25T20:52:17.066Z,1750884737.066 [DAT](INFO): got valid direction response:
 20:52:18.0207 LVL= 15856, 16625, 17826, 25075, AGC= 41, IDX= 504, 0.44,-2.855,-2.188,-1.170,-1.596, PHS=-1.170,-0.544, 0.423, RAW= 232.9,  18.2, CAL= 245.0,  22.4, ROT= 265.0, -22.4

2025-06-25T20:52:17.067Z,1750884737.067 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-25T20:52:17.068Z,1750884737.068 [DAT](INFO): direction in FSK: [-0.080579,-0.921028,0.381070]
2025-06-25T20:52:17.068Z,1750884737.068 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:17.071Z,1750884737.071 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=20.446745
2025-06-25T20:52:17.294Z,1750884737.294 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=20.668795
2025-06-25T20:52:17.551Z,1750884737.551 [DAT](INFO): DAT read: Rx Time:20:52:18.5208 

2025-06-25T20:52:17.553Z,1750884737.553 [DAT](INFO): Rx dataTimestamp_ set to:1750884737.551445
2025-06-25T20:52:17.557Z,1750884737.557 [DAT](INFO): DAT read: Bearing 258.2, -18.8 (Local)

2025-06-25T20:52:17.558Z,1750884737.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.2, -18.8 (Local)

2025-06-25T20:52:17.565Z,1750884737.565 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:17.601Z,1750884737.601 [DAT](INFO): DAT read: 20:52:18.5208 LVL= 13760, 16913, 16242, 22579, AGC= 40, IDX= 506,-0.40, 3.002,-2.469,-1.614,-2.049, PHS=-1.144,-0.372, 0.432, RAW= 239.3,  15.7, CAL= 251.8,  18.8, ROT= 258.2, -18.8

2025-06-25T20:52:17.602Z,1750884737.602 [DAT](INFO): got valid direction response:
 20:52:18.5208 LVL= 13760, 16913, 16242, 22579, AGC= 40, IDX= 506,-0.40, 3.002,-2.469,-1.614,-2.049, PHS=-1.144,-0.372, 0.432, RAW= 239.3,  15.7, CAL= 251.8,  18.8, ROT= 258.2, -18.8

2025-06-25T20:52:17.602Z,1750884737.602 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-25T20:52:17.603Z,1750884737.603 [DAT](INFO): direction in FSK: [-0.193586,-0.926644,0.322266]
2025-06-25T20:52:17.603Z,1750884737.603 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:17.619Z,1750884737.619 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.994530
2025-06-25T20:52:17.798Z,1750884737.798 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=21.172760
2025-06-25T20:52:18.053Z,1750884738.053 [DAT](INFO): DAT read: Rx Time:20:52:19.0207 

2025-06-25T20:52:18.055Z,1750884738.055 [DAT](INFO): Rx dataTimestamp_ set to:1750884738.053826
2025-06-25T20:52:18.058Z,1750884738.058 [DAT](INFO): DAT read: Bearing 260.8, -19.9 (Local)

2025-06-25T20:52:18.059Z,1750884738.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.8, -19.9 (Local)

2025-06-25T20:52:18.067Z,1750884738.067 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:18.101Z,1750884738.101 [DAT](INFO): DAT read: 20:52:19.0207 LVL= 16448, 16865, 17938, 24563, AGC= 41, IDX= 505,-0.38, 2.453,-3.079,-2.153,-2.588, PHS=-1.154,-0.443, 0.432, RAW= 236.6,  16.7, CAL= 249.2,  19.9, ROT= 260.8, -19.9

2025-06-25T20:52:18.102Z,1750884738.102 [DAT](INFO): got valid direction response:
 20:52:19.0207 LVL= 16448, 16865, 17938, 24563, AGC= 41, IDX= 505,-0.38, 2.453,-3.079,-2.153,-2.588, PHS=-1.154,-0.443, 0.432, RAW= 236.6,  16.7, CAL= 249.2,  19.9, ROT= 260.8, -19.9

2025-06-25T20:52:18.102Z,1750884738.102 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-25T20:52:18.103Z,1750884738.103 [DAT](INFO): direction in FSK: [-0.150335,-0.928192,0.340380]
2025-06-25T20:52:18.108Z,1750884738.108 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:18.111Z,1750884738.111 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=21.486668
2025-06-25T20:52:18.301Z,1750884738.301 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=21.676098
2025-06-25T20:52:18.557Z,1750884738.557 [DAT](INFO): DAT read: Rx Time:20:52:19.5208 

2025-06-25T20:52:18.558Z,1750884738.558 [DAT](INFO): Rx dataTimestamp_ set to:1750884738.557719
2025-06-25T20:52:18.560Z,1750884738.560 [DAT](INFO): DAT read: Bearing 258.5, -18.0 (Local)

2025-06-25T20:52:18.560Z,1750884738.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.5, -18.0 (Local)

2025-06-25T20:52:18.562Z,1750884738.562 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:18.567Z,1750884738.567 [DAT](INFO): DAT read: 20:52:19.5208 LVL= 14128, 16817, 16258, 21427, AGC= 40, IDX= 506,-0.21, 2.115, 2.903,-2.556,-2.991, PHS=-1.089,-0.342, 0.432, RAW= 239.4,  15.0, CAL= 251.5,  18.0, ROT= 258.5, -18.0

2025-06-25T20:52:18.569Z,1750884738.569 [DAT](INFO): got valid direction response:
 20:52:19.5208 LVL= 14128, 16817, 16258, 21427, AGC= 40, IDX= 506,-0.21, 2.115, 2.903,-2.556,-2.991, PHS=-1.089,-0.342, 0.432, RAW= 239.4,  15.0, CAL= 251.5,  18.0, ROT= 258.5, -18.0

2025-06-25T20:52:18.569Z,1750884738.569 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-25T20:52:18.570Z,1750884738.570 [DAT](INFO): direction in FSK: [-0.189610,-0.931964,0.309017]
2025-06-25T20:52:18.571Z,1750884738.571 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:18.575Z,1750884738.575 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.949806
2025-06-25T20:52:18.806Z,1750884738.806 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=22.181622
2025-06-25T20:52:19.059Z,1750884739.059 [DAT](INFO): DAT read: Rx Time:20:52:20.0207 

2025-06-25T20:52:19.060Z,1750884739.060 [DAT](INFO): Rx dataTimestamp_ set to:1750884739.059407
2025-06-25T20:52:19.061Z,1750884739.061 [DAT](INFO): DAT read: Bearing 259.0, -17.3 (Local)

2025-06-25T20:52:19.061Z,1750884739.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.0, -17.3 (Local)

2025-06-25T20:52:19.063Z,1750884739.063 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:19.068Z,1750884739.068 [DAT](INFO): DAT read: 20:52:20.0207 LVL= 13904, 15697, 15730, 21043, AGC= 40, IDX= 505,-0.18, 0.732, 1.511, 2.329, 1.883, PHS=-1.063,-0.325, 0.443, RAW= 239.3,  14.4, CAL= 251.0,  17.3, ROT= 259.0, -17.3

2025-06-25T20:52:19.069Z,1750884739.069 [DAT](INFO): got valid direction response:
 20:52:20.0207 LVL= 13904, 15697, 15730, 21043, AGC= 40, IDX= 505,-0.18, 0.732, 1.511, 2.329, 1.883, PHS=-1.063,-0.325, 0.443, RAW= 239.3,  14.4, CAL= 251.0,  17.3, ROT= 259.0, -17.3

2025-06-25T20:52:19.070Z,1750884739.070 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-25T20:52:19.071Z,1750884739.071 [DAT](INFO): direction in FSK: [-0.182177,-0.937219,0.297375]
2025-06-25T20:52:19.071Z,1750884739.071 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:19.075Z,1750884739.075 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=22.450274
2025-06-25T20:52:19.310Z,1750884739.310 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=22.685276
2025-06-25T20:52:19.562Z,1750884739.562 [DAT](INFO): DAT read: Rx Time:20:52:20.5208 

2025-06-25T20:52:19.562Z,1750884739.562 [DAT](INFO): Rx dataTimestamp_ set to:1750884739.561740
2025-06-25T20:52:19.563Z,1750884739.563 [DAT](INFO): DAT read: Bearing 261.6, -16.3 (Local)

2025-06-25T20:52:19.564Z,1750884739.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.6, -16.3 (Local)

2025-06-25T20:52:19.566Z,1750884739.566 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:19.571Z,1750884739.571 [DAT](INFO): DAT read: 20:52:20.5208 LVL= 13664, 15857, 15234, 20371, AGC= 40, IDX= 506,-0.12, 1.883, 2.628,-2.788, 3.013, PHS=-1.042,-0.338, 0.480, RAW= 237.5,  13.6, CAL= 248.4,  16.3, ROT= 261.6, -16.3

2025-06-25T20:52:19.572Z,1750884739.572 [DAT](INFO): got valid direction response:
 20:52:20.5208 LVL= 13664, 15857, 15234, 20371, AGC= 40, IDX= 506,-0.12, 1.883, 2.628,-2.788, 3.013, PHS=-1.042,-0.338, 0.480, RAW= 237.5,  13.6, CAL= 248.4,  16.3, ROT= 261.6, -16.3

2025-06-25T20:52:19.572Z,1750884739.572 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-25T20:52:19.573Z,1750884739.573 [DAT](INFO): direction in FSK: [-0.140211,-0.949509,0.280667]
2025-06-25T20:52:19.574Z,1750884739.574 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:19.593Z,1750884739.593 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.968674
2025-06-25T20:52:19.814Z,1750884739.814 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=23.189337
2025-06-25T20:52:20.066Z,1750884740.066 [DAT](INFO): DAT read: Rx Time:20:52:21.0208 

2025-06-25T20:52:20.067Z,1750884740.067 [DAT](INFO): Rx dataTimestamp_ set to:1750884740.066514
2025-06-25T20:52:20.069Z,1750884740.069 [DAT](INFO): DAT read: Bearing 267.0, -18.1 (Local)

2025-06-25T20:52:20.069Z,1750884740.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.0, -18.1 (Local)

2025-06-25T20:52:20.078Z,1750884740.078 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:20.083Z,1750884740.083 [DAT](INFO): DAT read: 20:52:21.0208 LVL= 13520, 16273, 14594, 19539, AGC= 40, IDX= 505,-0.07, 1.397, 2.018, 3.024, 2.523, PHS=-1.038,-0.458, 0.498, RAW= 232.0,  14.7, CAL= 243.0,  18.1, ROT= 267.0, -18.1

2025-06-25T20:52:20.088Z,1750884740.088 [DAT](INFO): got valid direction response:
 20:52:21.0208 LVL= 13520, 16273, 14594, 19539, AGC= 40, IDX= 505,-0.07, 1.397, 2.018, 3.024, 2.523, PHS=-1.038,-0.458, 0.498, RAW= 232.0,  14.7, CAL= 243.0,  18.1, ROT= 267.0, -18.1

2025-06-25T20:52:20.088Z,1750884740.088 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-25T20:52:20.089Z,1750884740.089 [DAT](INFO): direction in FSK: [-0.049746,-0.949213,0.310676]
2025-06-25T20:52:20.090Z,1750884740.090 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:20.098Z,1750884740.098 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=23.472795
2025-06-25T20:52:20.317Z,1750884740.317 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=23.692059
2025-06-25T20:52:20.569Z,1750884740.569 [DAT](INFO): DAT read: Rx Time:20:52:21.5208 

2025-06-25T20:52:20.570Z,1750884740.570 [DAT](INFO): Rx dataTimestamp_ set to:1750884740.569644
2025-06-25T20:52:20.571Z,1750884740.571 [DAT](INFO): DAT read: Bearing 267.2, -18.2 (Local)

2025-06-25T20:52:20.572Z,1750884740.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.2, -18.2 (Local)

2025-06-25T20:52:20.575Z,1750884740.575 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:20.579Z,1750884740.579 [DAT](INFO): DAT read: 20:52:21.5208 LVL= 12032, 15633, 12258, 16915, AGC= 39, IDX= 505,-0.05, 1.242, 1.845, 2.837, 2.347, PHS=-1.016,-0.455, 0.488, RAW= 231.7,  14.8, CAL= 242.8,  18.2, ROT= 267.2, -18.2

2025-06-25T20:52:20.581Z,1750884740.581 [DAT](INFO): got valid direction response:
 20:52:21.5208 LVL= 12032, 15633, 12258, 16915, AGC= 39, IDX= 505,-0.05, 1.242, 1.845, 2.837, 2.347, PHS=-1.016,-0.455, 0.488, RAW= 231.7,  14.8, CAL= 242.8,  18.2, ROT= 267.2, -18.2

2025-06-25T20:52:20.581Z,1750884740.581 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-25T20:52:20.582Z,1750884740.582 [DAT](INFO): direction in FSK: [-0.046406,-0.948838,0.312335]
2025-06-25T20:52:20.582Z,1750884740.582 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:20.606Z,1750884740.606 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.979992
2025-06-25T20:52:20.821Z,1750884740.821 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=24.196733
2025-06-25T20:52:21.073Z,1750884741.073 [DAT](INFO): DAT read: Rx Time:20:52:22.0208 

2025-06-25T20:52:21.074Z,1750884741.074 [DAT](INFO): Rx dataTimestamp_ set to:1750884741.073589
2025-06-25T20:52:21.075Z,1750884741.075 [DAT](INFO): DAT read: Bearing 273.8, -19.4 (Local)

2025-06-25T20:52:21.075Z,1750884741.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.8, -19.4 (Local)

2025-06-25T20:52:21.078Z,1750884741.078 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:21.083Z,1750884741.083 [DAT](INFO): DAT read: 20:52:22.0208 LVL= 12272, 16577, 11730, 16787, AGC= 39, IDX= 504,-0.00, 0.900, 1.349, 2.523, 2.002, PHS=-1.014,-0.606, 0.518, RAW= 224.9,  15.8, CAL= 236.2,  19.4, ROT= 273.8, -19.4

2025-06-25T20:52:21.084Z,1750884741.084 [DAT](INFO): got valid direction response:
 20:52:22.0208 LVL= 12272, 16577, 11730, 16787, AGC= 39, IDX= 504,-0.00, 0.900, 1.349, 2.523, 2.002, PHS=-1.014,-0.606, 0.518, RAW= 224.9,  15.8, CAL= 236.2,  19.4, ROT= 273.8, -19.4

2025-06-25T20:52:21.084Z,1750884741.084 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-25T20:52:21.085Z,1750884741.085 [DAT](INFO): direction in FSK: [0.062511,-0.941149,0.332161]
2025-06-25T20:52:21.085Z,1750884741.085 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:21.089Z,1750884741.089 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=24.464355
2025-06-25T20:52:21.326Z,1750884741.326 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=24.700823
2025-06-25T20:52:21.577Z,1750884741.577 [DAT](INFO): DAT read: Rx Time:20:52:22.5208 

2025-06-25T20:52:21.578Z,1750884741.578 [DAT](INFO): Rx dataTimestamp_ set to:1750884741.577693
2025-06-25T20:52:21.579Z,1750884741.579 [DAT](INFO): DAT read: Bearing 278.2, -19.8 (Local)

2025-06-25T20:52:21.580Z,1750884741.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.2, -19.8 (Local)

2025-06-25T20:52:21.582Z,1750884741.582 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:21.587Z,1750884741.587 [DAT](INFO): DAT read: 20:52:22.5208 LVL= 11296, 15089,  9634, 15251, AGC= 38, IDX= 505, 0.02, 2.799, 3.128,-1.859,-2.392, PHS=-1.004,-0.716, 0.530, RAW= 220.2,  16.6, CAL= 231.8,  19.8, ROT= 278.2, -19.8

2025-06-25T20:52:21.588Z,1750884741.588 [DAT](INFO): got valid direction response:
 20:52:22.5208 LVL= 11296, 15089,  9634, 15251, AGC= 38, IDX= 505, 0.02, 2.799, 3.128,-1.859,-2.392, PHS=-1.004,-0.716, 0.530, RAW= 220.2,  16.6, CAL= 231.8,  19.8, ROT= 278.2, -19.8

2025-06-25T20:52:21.588Z,1750884741.588 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-25T20:52:21.589Z,1750884741.589 [DAT](INFO): direction in FSK: [0.134197,-0.931261,0.338738]
2025-06-25T20:52:21.589Z,1750884741.589 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:21.597Z,1750884741.597 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.972536
2025-06-25T20:52:21.829Z,1750884741.829 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=25.204163
2025-06-25T20:52:22.083Z,1750884742.083 [DAT](INFO): DAT read: Rx Time:20:52:23.0208 

2025-06-25T20:52:22.083Z,1750884742.083 [DAT](INFO): Rx dataTimestamp_ set to:1750884742.083147
2025-06-25T20:52:22.086Z,1750884742.086 [DAT](INFO): DAT read: Bearing 282.0, -20.1 (Local)

2025-06-25T20:52:22.087Z,1750884742.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.0, -20.1 (Local)

2025-06-25T20:52:22.090Z,1750884742.090 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:22.095Z,1750884742.095 [DAT](INFO): DAT read: 20:52:23.0208 LVL= 11360, 15121,  9378, 15523, AGC= 38, IDX= 504, 0.02, 2.031, 2.281,-2.613, 3.122, PHS=-1.003,-0.794, 0.546, RAW= 217.1,  16.9, CAL= 228.0,  20.1, ROT= 282.0, -20.1

2025-06-25T20:52:22.104Z,1750884742.104 [DAT](INFO): got valid direction response:
 20:52:23.0208 LVL= 11360, 15121,  9378, 15523, AGC= 38, IDX= 504, 0.02, 2.031, 2.281,-2.613, 3.122, PHS=-1.003,-0.794, 0.546, RAW= 217.1,  16.9, CAL= 228.0,  20.1, ROT= 282.0, -20.1

2025-06-25T20:52:22.105Z,1750884742.105 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-25T20:52:22.106Z,1750884742.106 [DAT](INFO): direction in FSK: [0.195248,-0.918573,0.343660]
2025-06-25T20:52:22.106Z,1750884742.106 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:22.115Z,1750884742.115 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=25.489546
2025-06-25T20:52:22.337Z,1750884742.337 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=25.711691
2025-06-25T20:52:22.585Z,1750884742.585 [DAT](INFO): DAT read: Rx Time:20:52:23.5208 

2025-06-25T20:52:22.586Z,1750884742.586 [DAT](INFO): Rx dataTimestamp_ set to:1750884742.585578
2025-06-25T20:52:22.587Z,1750884742.587 [DAT](INFO): DAT read: Bearing 287.1, -21.8 (Local)

2025-06-25T20:52:22.587Z,1750884742.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.1, -21.8 (Local)

2025-06-25T20:52:22.590Z,1750884742.590 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:22.594Z,1750884742.594 [DAT](INFO): DAT read: 20:52:23.5208 LVL= 12736, 16017, 10386, 17523, AGC= 39, IDX= 505, 0.00,-2.577,-2.391,-0.953,-1.487, PHS=-1.002,-0.857, 0.531, RAW= 214.9,  17.8, CAL= 222.9,  21.8, ROT= 287.1, -21.8

2025-06-25T20:52:22.600Z,1750884742.600 [DAT](INFO): got valid direction response:
 20:52:23.5208 LVL= 12736, 16017, 10386, 17523, AGC= 39, IDX= 505, 0.00,-2.577,-2.391,-0.953,-1.487, PHS=-1.002,-0.857, 0.531, RAW= 214.9,  17.8, CAL= 222.9,  21.8, ROT= 287.1, -21.8

2025-06-25T20:52:22.601Z,1750884742.601 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-25T20:52:22.602Z,1750884742.602 [DAT](INFO): direction in FSK: [0.273012,-0.887440,0.371368]
2025-06-25T20:52:22.602Z,1750884742.602 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:22.614Z,1750884742.614 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=25.989218
2025-06-25T20:52:22.837Z,1750884742.837 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=26.212170
2025-06-25T20:52:23.089Z,1750884743.089 [DAT](INFO): DAT read: Rx Time:20:52:24.0208 

2025-06-25T20:52:23.090Z,1750884743.090 [DAT](INFO): Rx dataTimestamp_ set to:1750884743.089573
2025-06-25T20:52:23.091Z,1750884743.091 [DAT](INFO): DAT read: Bearing 293.9, -23.0 (Local)

2025-06-25T20:52:23.091Z,1750884743.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.9, -23.0 (Local)

2025-06-25T20:52:23.094Z,1750884743.094 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:23.098Z,1750884743.098 [DAT](INFO): DAT read: 20:52:24.0208 LVL= 12960, 16097, 10354, 18003, AGC= 39, IDX= 504, 0.02,-3.107,-3.016,-1.461,-2.003, PHS=-1.016,-0.966, 0.540, RAW= 211.6,  18.4, CAL= 216.1,  23.0, ROT= 293.9, -23.0

2025-06-25T20:52:23.099Z,1750884743.099 [DAT](INFO): got valid direction response:
 20:52:24.0208 LVL= 12960, 16097, 10354, 18003, AGC= 39, IDX= 504, 0.02,-3.107,-3.016,-1.461,-2.003, PHS=-1.016,-0.966, 0.540, RAW= 211.6,  18.4, CAL= 216.1,  23.0, ROT= 293.9, -23.0

2025-06-25T20:52:23.100Z,1750884743.100 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-25T20:52:23.101Z,1750884743.101 [DAT](INFO): direction in FSK: [0.372935,-0.841575,0.390731]
2025-06-25T20:52:23.101Z,1750884743.101 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:23.105Z,1750884743.105 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=26.480194
2025-06-25T20:52:23.343Z,1750884743.343 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=26.718163
2025-06-25T20:52:23.598Z,1750884743.598 [DAT](INFO): DAT read: Rx Time:20:52:24.5208 

2025-06-25T20:52:23.598Z,1750884743.598 [DAT](INFO): Rx dataTimestamp_ set to:1750884743.597717
2025-06-25T20:52:23.599Z,1750884743.599 [DAT](INFO): DAT read: Bearing 298.1, -24.1 (Local)

2025-06-25T20:52:23.600Z,1750884743.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.1, -24.1 (Local)

2025-06-25T20:52:23.602Z,1750884743.602 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:23.622Z,1750884743.622 [DAT](INFO): DAT read: 20:52:24.5208 LVL= 11856, 14561,  9906, 15907, AGC= 38, IDX= 505, 0.05,-1.495,-1.464, 0.175,-0.371, PHS=-1.036,-1.046, 0.543, RAW= 209.7,  19.0, CAL= 211.9,  24.1, ROT= 298.1, -24.1

2025-06-25T20:52:23.623Z,1750884743.623 [DAT](INFO): got valid direction response:
 20:52:24.5208 LVL= 11856, 14561,  9906, 15907, AGC= 38, IDX= 505, 0.05,-1.495,-1.464, 0.175,-0.371, PHS=-1.036,-1.046, 0.543, RAW= 209.7,  19.0, CAL= 211.9,  24.1, ROT= 298.1, -24.1

2025-06-25T20:52:23.623Z,1750884743.623 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-25T20:52:23.641Z,1750884743.641 [DAT](INFO): direction in FSK: [0.429956,-0.805236,0.408330]
2025-06-25T20:52:23.641Z,1750884743.641 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:23.655Z,1750884743.655 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=27.029940
2025-06-25T20:52:23.849Z,1750884743.849 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=27.224104
2025-06-25T20:52:24.102Z,1750884744.102 [DAT](INFO): DAT read: Rx Time:20:52:25.0208 

2025-06-25T20:52:24.102Z,1750884744.102 [DAT](INFO): Rx dataTimestamp_ set to:1750884744.101971
2025-06-25T20:52:24.104Z,1750884744.104 [DAT](INFO): DAT read: Bearing 289.9, -23.5 (Local)

2025-06-25T20:52:24.104Z,1750884744.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.9, -23.5 (Local)

2025-06-25T20:52:24.106Z,1750884744.106 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:24.114Z,1750884744.114 [DAT](INFO): DAT read: 20:52:25.0208 LVL= 13360, 15505, 11890, 17155, AGC= 39, IDX= 504, 0.08,-2.943,-2.782,-1.275,-1.802, PHS=-1.053,-0.932, 0.524, RAW= 213.9,  18.8, CAL= 220.1,  23.5, ROT= 289.9, -23.5

2025-06-25T20:52:24.115Z,1750884744.115 [DAT](INFO): got valid direction response:
 20:52:25.0208 LVL= 13360, 15505, 11890, 17155, AGC= 39, IDX= 504, 0.08,-2.943,-2.782,-1.275,-1.802, PHS=-1.053,-0.932, 0.524, RAW= 213.9,  18.8, CAL= 220.1,  23.5, ROT= 289.9, -23.5

2025-06-25T20:52:24.116Z,1750884744.116 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-25T20:52:24.118Z,1750884744.118 [DAT](INFO): direction in FSK: [0.312149,-0.862301,0.398749]
2025-06-25T20:52:24.118Z,1750884744.118 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:24.132Z,1750884744.132 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=27.502787
2025-06-25T20:52:24.355Z,1750884744.355 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=27.729956
2025-06-25T20:52:24.605Z,1750884744.605 [DAT](INFO): DAT read: Rx Time:20:52:25.5208 

2025-06-25T20:52:24.606Z,1750884744.606 [DAT](INFO): Rx dataTimestamp_ set to:1750884744.605673
2025-06-25T20:52:24.607Z,1750884744.607 [DAT](INFO): DAT read: Bearing 290.3, -24.8 (Local)

2025-06-25T20:52:24.608Z,1750884744.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.3, -24.8 (Local)

2025-06-25T20:52:24.610Z,1750884744.610 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:24.615Z,1750884744.615 [DAT](INFO): DAT read: 20:52:25.5208 LVL= 14976, 16625, 14610, 20419, AGC= 40, IDX= 504, 0.12,-2.392,-2.217,-0.670,-1.194, PHS=-1.110,-0.976, 0.521, RAW= 214.2,  19.4, CAL= 219.7,  24.8, ROT= 290.3, -24.8

2025-06-25T20:52:24.616Z,1750884744.616 [DAT](INFO): got valid direction response:
 20:52:25.5208 LVL= 14976, 16625, 14610, 20419, AGC= 40, IDX= 504, 0.12,-2.392,-2.217,-0.670,-1.194, PHS=-1.110,-0.976, 0.521, RAW= 214.2,  19.4, CAL= 219.7,  24.8, ROT= 290.3, -24.8

2025-06-25T20:52:24.617Z,1750884744.617 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-25T20:52:24.618Z,1750884744.618 [DAT](INFO): direction in FSK: [0.314940,-0.851395,0.419452]
2025-06-25T20:52:24.618Z,1750884744.618 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:24.638Z,1750884744.638 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=28.013687
2025-06-25T20:52:24.857Z,1750884744.857 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=28.232313
2025-06-25T20:52:25.109Z,1750884745.109 [DAT](INFO): DAT read: Rx Time:20:52:26.0207 

2025-06-25T20:52:25.110Z,1750884745.110 [DAT](INFO): Rx dataTimestamp_ set to:1750884745.109633
2025-06-25T20:52:25.111Z,1750884745.111 [DAT](INFO): DAT read: Bearing 274.3, -24.3 (Local)

2025-06-25T20:52:25.112Z,1750884745.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.3, -24.3 (Local)

2025-06-25T20:52:25.114Z,1750884745.114 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:25.119Z,1750884745.119 [DAT](INFO): DAT read: 20:52:26.0207 LVL= 14272, 15585, 15858, 21171, AGC= 40, IDX= 503, 0.19, 1.877, 2.345,-2.688, 3.124, PHS=-1.159,-0.732, 0.468, RAW= 224.7,  19.0, CAL= 235.7,  24.3, ROT= 274.3, -24.3

2025-06-25T20:52:25.120Z,1750884745.120 [DAT](INFO): got valid direction response:
 20:52:26.0207 LVL= 14272, 15585, 15858, 21171, AGC= 40, IDX= 503, 0.19, 1.877, 2.345,-2.688, 3.124, PHS=-1.159,-0.732, 0.468, RAW= 224.7,  19.0, CAL= 235.7,  24.3, ROT= 274.3, -24.3

2025-06-25T20:52:25.120Z,1750884745.120 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-25T20:52:25.121Z,1750884745.121 [DAT](INFO): direction in FSK: [0.068336,-0.908838,0.411514]
2025-06-25T20:52:25.121Z,1750884745.121 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:25.125Z,1750884745.125 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=28.500227
2025-06-25T20:52:25.366Z,1750884745.366 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=28.738438
2025-06-25T20:52:25.613Z,1750884745.613 [DAT](INFO): DAT read: Rx Time:20:52:26.5208 

2025-06-25T20:52:25.614Z,1750884745.614 [DAT](INFO): Rx dataTimestamp_ set to:1750884745.613593
2025-06-25T20:52:25.615Z,1750884745.615 [DAT](INFO): DAT read: Bearing 258.1, -21.1 (Local)

2025-06-25T20:52:25.616Z,1750884745.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.1, -21.1 (Local)

2025-06-25T20:52:25.618Z,1750884745.618 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:25.627Z,1750884745.627 [DAT](INFO): DAT read: 20:52:26.5208 LVL= 13680, 16753, 16818, 22371, AGC= 40, IDX= 504, 0.38, 1.350, 2.171, 3.058, 2.658, PHS=-1.220,-0.440, 0.397, RAW= 238.8,  17.7, CAL= 251.9,  21.1, ROT= 258.1, -21.1

2025-06-25T20:52:25.629Z,1750884745.629 [DAT](INFO): got valid direction response:
 20:52:26.5208 LVL= 13680, 16753, 16818, 22371, AGC= 40, IDX= 504, 0.38, 1.350, 2.171, 3.058, 2.658, PHS=-1.220,-0.440, 0.397, RAW= 238.8,  17.7, CAL= 251.9,  21.1, ROT= 258.1, -21.1

2025-06-25T20:52:25.629Z,1750884745.629 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-25T20:52:25.631Z,1750884745.631 [DAT](INFO): direction in FSK: [-0.192379,-0.912903,0.359997]
2025-06-25T20:52:25.631Z,1750884745.631 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:25.669Z,1750884745.669 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=29.043812
2025-06-25T20:52:25.866Z,1750884745.866 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=29.240580
2025-06-25T20:52:26.118Z,1750884746.118 [DAT](INFO): DAT read: Rx Time:20:52:27.0207 

2025-06-25T20:52:26.119Z,1750884746.119 [DAT](INFO): Rx dataTimestamp_ set to:1750884746.118527
2025-06-25T20:52:26.137Z,1750884746.137 [DAT](INFO): DAT read: Bearing 248.1, -19.1 (Local)

2025-06-25T20:52:26.137Z,1750884746.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.1, -19.1 (Local)

2025-06-25T20:52:26.140Z,1750884746.140 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:26.154Z,1750884746.154 [DAT](INFO): DAT read: 20:52:27.0207 LVL= 14928, 17777, 19058, 25075, AGC= 41, IDX= 504,-0.46,-1.520,-0.429, 0.206,-0.167, PHS=-1.265,-0.215, 0.370, RAW= 249.3,  15.3, CAL= 261.9,  19.1, ROT= 248.1, -19.1

2025-06-25T20:52:26.155Z,1750884746.155 [DAT](INFO): got valid direction response:
 20:52:27.0207 LVL= 14928, 17777, 19058, 25075, AGC= 41, IDX= 504,-0.46,-1.520,-0.429, 0.206,-0.167, PHS=-1.265,-0.215, 0.370, RAW= 249.3,  15.3, CAL= 261.9,  19.1, ROT= 248.1, -19.1

2025-06-25T20:52:26.156Z,1750884746.156 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-25T20:52:26.157Z,1750884746.157 [DAT](INFO): direction in FSK: [-0.352454,-0.876758,0.327218]
2025-06-25T20:52:26.157Z,1750884746.157 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:26.166Z,1750884746.166 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=29.541430
2025-06-25T20:52:26.372Z,1750884746.372 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=29.746847
2025-06-25T20:52:26.622Z,1750884746.622 [DAT](INFO): DAT read: Rx Time:20:52:27.5211 

2025-06-25T20:52:26.622Z,1750884746.622 [DAT](INFO): Rx dataTimestamp_ set to:1750884746.621776
2025-06-25T20:52:26.623Z,1750884746.623 [DAT](INFO): DAT read: Bearing 245.5, -18.8 (Local)

2025-06-25T20:52:26.624Z,1750884746.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.5, -18.8 (Local)

2025-06-25T20:52:26.627Z,1750884746.627 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-25T20:52:26.634Z,1750884746.634 [DAT](INFO): DAT read: 20:52:27.5211 LVL= 16816, 18513, 19762, 25523, AGC= 41, IDX= 505,-0.35,-1.119, 0.090, 0.625, 0.267, PHS=-1.298,-0.130, 0.355, RAW= 253.4,  14.4, CAL= 264.5,  18.8, ROT= 245.5, -18.8

2025-06-25T20:52:26.635Z,1750884746.635 [DAT](INFO): got valid direction response:
 20:52:27.5211 LVL= 16816, 18513, 19762, 25523, AGC= 41, IDX= 505,-0.35,-1.119, 0.090, 0.625, 0.267, PHS=-1.298,-0.130, 0.355, RAW= 253.4,  14.4, CAL= 264.5,  18.8, ROT= 245.5, -18.8

2025-06-25T20:52:26.641Z,1750884746.641 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-25T20:52:26.642Z,1750884746.642 [DAT](INFO): direction in FSK: [-0.392569,-0.861414,0.322266]
2025-06-25T20:52:26.643Z,1750884746.643 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:26.657Z,1750884746.657 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=30.031784
2025-06-25T20:52:26.873Z,1750884746.873 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=30.248016
2025-06-25T20:52:27.126Z,1750884747.126 [DAT](INFO): DAT read: Rx Time:20:52:28.0210 

2025-06-25T20:52:27.126Z,1750884747.126 [DAT](INFO): Rx dataTimestamp_ set to:1750884747.125838
2025-06-25T20:52:27.127Z,1750884747.127 [DAT](INFO): DAT read: Bearing 244.4, -18.0 (Local)

2025-06-25T20:52:27.128Z,1750884747.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.4, -18.0 (Local)

2025-06-25T20:52:27.130Z,1750884747.130 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-25T20:52:27.135Z,1750884747.135 [DAT](INFO): DAT read: 20:52:28.0210 LVL= 15472, 19057, 19762, 25683, AGC= 41, IDX= 504,-0.25,-3.088,-1.821,-1.343,-1.701, PHS=-1.298,-0.073, 0.356, RAW= 255.5,  13.6, CAL= 265.6,  18.0, ROT= 244.4, -18.0

2025-06-25T20:52:27.144Z,1750884747.144 [DAT](INFO): got valid direction response:
 20:52:28.0210 LVL= 15472, 19057, 19762, 25683, AGC= 41, IDX= 504,-0.25,-3.088,-1.821,-1.343,-1.701, PHS=-1.298,-0.073, 0.356, RAW= 255.5,  13.6, CAL= 265.6,  18.0, ROT= 244.4, -18.0

2025-06-25T20:52:27.144Z,1750884747.144 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-25T20:52:27.145Z,1750884747.145 [DAT](INFO): direction in FSK: [-0.410938,-0.857694,0.309017]
2025-06-25T20:52:27.146Z,1750884747.146 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:27.149Z,1750884747.149 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=30.524567
2025-06-25T20:52:27.383Z,1750884747.383 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=30.758175
2025-06-25T20:52:27.634Z,1750884747.634 [DAT](INFO): DAT read: Rx Time:20:52:28.5210 

2025-06-25T20:52:27.635Z,1750884747.635 [DAT](INFO): Rx dataTimestamp_ set to:1750884747.634447
2025-06-25T20:52:27.637Z,1750884747.637 [DAT](INFO): DAT read: Bearing 246.0, -18.5 (Local)

2025-06-25T20:52:27.637Z,1750884747.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.0, -18.5 (Local)

2025-06-25T20:52:27.640Z,1750884747.640 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-25T20:52:27.647Z,1750884747.647 [DAT](INFO): DAT read: 20:52:28.5210 LVL= 15440, 18929, 19938, 25587, AGC= 41, IDX= 504,-0.19,-2.422,-1.231,-0.682,-1.049, PHS=-1.285,-0.135, 0.364, RAW= 252.9,  14.3, CAL= 264.0,  18.5, ROT= 246.0, -18.5

2025-06-25T20:52:27.649Z,1750884747.649 [DAT](INFO): got valid direction response:
 20:52:28.5210 LVL= 15440, 18929, 19938, 25587, AGC= 41, IDX= 504,-0.19,-2.422,-1.231,-0.682,-1.049, PHS=-1.285,-0.135, 0.364, RAW= 252.9,  14.3, CAL= 264.0,  18.5, ROT= 246.0, -18.5

2025-06-25T20:52:27.649Z,1750884747.649 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-25T20:52:27.650Z,1750884747.650 [DAT](INFO): direction in FSK: [-0.385718,-0.866337,0.317305]
2025-06-25T20:52:27.651Z,1750884747.651 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:27.689Z,1750884747.689 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=31.064007
2025-06-25T20:52:27.886Z,1750884747.886 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=31.260759
2025-06-25T20:52:28.137Z,1750884748.137 [DAT](INFO): DAT read: Rx Time:20:52:29.0209 

2025-06-25T20:52:28.138Z,1750884748.138 [DAT](INFO): Rx dataTimestamp_ set to:1750884748.137623
2025-06-25T20:52:28.139Z,1750884748.139 [DAT](INFO): DAT read: Bearing 247.5, -17.3 (Local)

2025-06-25T20:52:28.140Z,1750884748.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.5, -17.3 (Local)

2025-06-25T20:52:28.143Z,1750884748.143 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-25T20:52:28.165Z,1750884748.165 [DAT](INFO): DAT read: 20:52:29.0209 LVL= 13984, 17809, 15906, 20547, AGC= 39, IDX= 503,-0.11, 1.954, 3.072,-2.638,-3.027, PHS=-1.215,-0.137, 0.386, RAW= 251.3,  13.6, CAL= 262.5,  17.3, ROT= 247.5, -17.3

2025-06-25T20:52:28.167Z,1750884748.167 [DAT](INFO): got valid direction response:
 20:52:29.0209 LVL= 13984, 17809, 15906, 20547, AGC= 39, IDX= 503,-0.11, 1.954, 3.072,-2.638,-3.027, PHS=-1.215,-0.137, 0.386, RAW= 251.3,  13.6, CAL= 262.5,  17.3, ROT= 247.5, -17.3

2025-06-25T20:52:28.167Z,1750884748.167 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-25T20:52:28.176Z,1750884748.176 [DAT](INFO): direction in FSK: [-0.365371,-0.882084,0.297375]
2025-06-25T20:52:28.177Z,1750884748.177 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:28.185Z,1750884748.185 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=31.560240
2025-06-25T20:52:28.392Z,1750884748.392 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=31.766338
2025-06-25T20:52:28.642Z,1750884748.642 [DAT](INFO): DAT read: Rx Time:20:52:29.5208 

2025-06-25T20:52:28.643Z,1750884748.643 [DAT](INFO): Rx dataTimestamp_ set to:1750884748.642530
2025-06-25T20:52:28.645Z,1750884748.645 [DAT](INFO): DAT read: Bearing 249.3, -19.3 (Local)

2025-06-25T20:52:28.646Z,1750884748.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.3, -19.3 (Local)

2025-06-25T20:52:28.649Z,1750884748.649 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:28.655Z,1750884748.655 [DAT](INFO): DAT read: 20:52:29.5208 LVL= 15184, 17345, 19154, 25315, AGC= 41, IDX= 504,-0.14,-1.686,-0.688,-0.028,-0.392, PHS=-1.205,-0.249, 0.361, RAW= 247.3,  15.8, CAL= 260.7,  19.3, ROT= 249.3, -19.3

2025-06-25T20:52:28.657Z,1750884748.657 [DAT](INFO): got valid direction response:
 20:52:29.5208 LVL= 15184, 17345, 19154, 25315, AGC= 41, IDX= 504,-0.14,-1.686,-0.688,-0.028,-0.392, PHS=-1.205,-0.249, 0.361, RAW= 247.3,  15.8, CAL= 260.7,  19.3, ROT= 249.3, -19.3

2025-06-25T20:52:28.658Z,1750884748.658 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-25T20:52:28.659Z,1750884748.659 [DAT](INFO): direction in FSK: [-0.333610,-0.882873,0.330514]
2025-06-25T20:52:28.663Z,1750884748.663 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:28.701Z,1750884748.701 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=32.076206
2025-06-25T20:52:28.893Z,1750884748.893 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=32.268005
2025-06-25T20:52:29.145Z,1750884749.145 [DAT](INFO): DAT read: Rx Time:20:52:30.0207 

2025-06-25T20:52:29.146Z,1750884749.146 [DAT](INFO): Rx dataTimestamp_ set to:1750884749.145568
2025-06-25T20:52:29.147Z,1750884749.147 [DAT](INFO): DAT read: Bearing 256.9, -20.0 (Local)

2025-06-25T20:52:29.147Z,1750884749.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.9, -20.0 (Local)

2025-06-25T20:52:29.150Z,1750884749.150 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:29.154Z,1750884749.154 [DAT](INFO): DAT read: 20:52:30.0207 LVL= 13552, 16769, 16482, 21875, AGC= 40, IDX= 503,-0.13,-2.195,-1.394,-0.575,-0.967, PHS=-1.140,-0.380, 0.389, RAW= 239.8,  16.8, CAL= 253.1,  20.0, ROT= 256.9, -20.0

2025-06-25T20:52:29.155Z,1750884749.155 [DAT](INFO): got valid direction response:
 20:52:30.0207 LVL= 13552, 16769, 16482, 21875, AGC= 40, IDX= 503,-0.13,-2.195,-1.394,-0.575,-0.967, PHS=-1.140,-0.380, 0.389, RAW= 239.8,  16.8, CAL= 253.1,  20.0, ROT= 256.9, -20.0

2025-06-25T20:52:29.170Z,1750884749.170 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-25T20:52:29.171Z,1750884749.171 [DAT](INFO): direction in FSK: [-0.212983,-0.915238,0.342020]
2025-06-25T20:52:29.172Z,1750884749.172 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:29.175Z,1750884749.175 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=32.550358
2025-06-25T20:52:29.400Z,1750884749.400 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=32.774487
2025-06-25T20:52:29.650Z,1750884749.650 [DAT](INFO): DAT read: Rx Time:20:52:30.5208 

2025-06-25T20:52:29.651Z,1750884749.651 [DAT](INFO): Rx dataTimestamp_ set to:1750884749.650171
2025-06-25T20:52:29.653Z,1750884749.653 [DAT](INFO): DAT read: Bearing 264.5, -20.2 (Local)

2025-06-25T20:52:29.653Z,1750884749.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.5, -20.2 (Local)

2025-06-25T20:52:29.656Z,1750884749.656 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:29.662Z,1750884749.662 [DAT](INFO): DAT read: 20:52:30.5208 LVL= 14000, 16113, 15634, 21107, AGC= 40, IDX= 504,-0.14,-0.331, 0.325, 1.305, 0.855, PHS=-1.098,-0.483, 0.446, RAW= 233.3,  16.6, CAL= 245.5,  20.2, ROT= 264.5, -20.2

2025-06-25T20:52:29.663Z,1750884749.663 [DAT](INFO): got valid direction response:
 20:52:30.5208 LVL= 14000, 16113, 15634, 21107, AGC= 40, IDX= 504,-0.14,-0.331, 0.325, 1.305, 0.855, PHS=-1.098,-0.483, 0.446, RAW= 233.3,  16.6, CAL= 245.5,  20.2, ROT= 264.5, -20.2

2025-06-25T20:52:29.664Z,1750884749.664 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-25T20:52:29.665Z,1750884749.665 [DAT](INFO): direction in FSK: [-0.089950,-0.934172,0.345298]
2025-06-25T20:52:29.665Z,1750884749.665 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:29.669Z,1750884749.669 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=33.043839
2025-06-25T20:52:29.901Z,1750884749.901 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=33.276077
2025-06-25T20:52:30.153Z,1750884750.153 [DAT](INFO): DAT read: Rx Time:20:52:31.0207 

2025-06-25T20:52:30.154Z,1750884750.154 [DAT](INFO): Rx dataTimestamp_ set to:1750884750.153668
2025-06-25T20:52:30.155Z,1750884750.155 [DAT](INFO): DAT read: Bearing 272.9, -21.6 (Local)

2025-06-25T20:52:30.156Z,1750884750.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.9, -21.6 (Local)

2025-06-25T20:52:30.158Z,1750884750.158 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:30.163Z,1750884750.163 [DAT](INFO): DAT read: 20:52:31.0207 LVL= 14592, 16721, 13810, 20307, AGC= 40, IDX= 503,-0.14,-0.852,-0.385, 0.762, 0.284, PHS=-1.048,-0.623, 0.475, RAW= 225.7,  17.2, CAL= 237.1,  21.6, ROT= 272.9, -21.6

2025-06-25T20:52:30.164Z,1750884750.164 [DAT](INFO): got valid direction response:
 20:52:31.0207 LVL= 14592, 16721, 13810, 20307, AGC= 40, IDX= 503,-0.14,-0.852,-0.385, 0.762, 0.284, PHS=-1.048,-0.623, 0.475, RAW= 225.7,  17.2, CAL= 237.1,  21.6, ROT= 272.9, -21.6

2025-06-25T20:52:30.164Z,1750884750.164 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-25T20:52:30.165Z,1750884750.165 [DAT](INFO): direction in FSK: [0.047040,-0.928586,0.368125]
2025-06-25T20:52:30.166Z,1750884750.166 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:30.169Z,1750884750.169 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=33.544712
2025-06-25T20:52:30.407Z,1750884750.407 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=33.782177
2025-06-25T20:52:30.658Z,1750884750.658 [DAT](INFO): DAT read: Rx Time:20:52:31.5208 

2025-06-25T20:52:30.659Z,1750884750.659 [DAT](INFO): Rx dataTimestamp_ set to:1750884750.658606
2025-06-25T20:52:30.661Z,1750884750.661 [DAT](INFO): DAT read: Bearing 275.0, -22.0 (Local)

2025-06-25T20:52:30.662Z,1750884750.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.0, -22.0 (Local)

2025-06-25T20:52:30.665Z,1750884750.665 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:30.671Z,1750884750.671 [DAT](INFO): DAT read: 20:52:31.5208 LVL= 12864, 15585, 11810, 17139, AGC= 39, IDX= 504,-0.11, 0.216, 0.624, 1.793, 1.322, PHS=-1.018,-0.651, 0.468, RAW= 223.7,  17.6, CAL= 235.0,  22.0, ROT= 275.0, -22.0

2025-06-25T20:52:30.681Z,1750884750.681 [DAT](INFO): got valid direction response:
 20:52:31.5208 LVL= 12864, 15585, 11810, 17139, AGC= 39, IDX= 504,-0.11, 0.216, 0.624, 1.793, 1.322, PHS=-1.018,-0.651, 0.468, RAW= 223.7,  17.6, CAL= 235.0,  22.0, ROT= 275.0, -22.0

2025-06-25T20:52:30.681Z,1750884750.681 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-25T20:52:30.682Z,1750884750.682 [DAT](INFO): direction in FSK: [0.080809,-0.923656,0.374607]
2025-06-25T20:52:30.683Z,1750884750.683 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:30.697Z,1750884750.697 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=34.072021
2025-06-25T20:52:30.909Z,1750884750.909 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=34.283951
2025-06-25T20:52:31.162Z,1750884751.162 [DAT](INFO): DAT read: Rx Time:20:52:32.0208 

2025-06-25T20:52:31.163Z,1750884751.163 [DAT](INFO): Rx dataTimestamp_ set to:1750884751.162563
2025-06-25T20:52:31.164Z,1750884751.164 [DAT](INFO): DAT read: Bearing 284.2, -22.2 (Local)

2025-06-25T20:52:31.165Z,1750884751.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.2, -22.2 (Local)

2025-06-25T20:52:31.167Z,1750884751.167 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:31.171Z,1750884751.171 [DAT](INFO): DAT read: 20:52:32.0208 LVL= 13216, 15969, 10354, 17619, AGC= 39, IDX= 503,-0.08,-0.277,-0.045, 1.311, 0.806, PHS=-0.995,-0.804, 0.501, RAW= 216.7,  18.0, CAL= 225.8,  22.2, ROT= 284.2, -22.2

2025-06-25T20:52:31.173Z,1750884751.173 [DAT](INFO): got valid direction response:
 20:52:32.0208 LVL= 13216, 15969, 10354, 17619, AGC= 39, IDX= 503,-0.08,-0.277,-0.045, 1.311, 0.806, PHS=-0.995,-0.804, 0.501, RAW= 216.7,  18.0, CAL= 225.8,  22.2, ROT= 284.2, -22.2

2025-06-25T20:52:31.173Z,1750884751.173 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-25T20:52:31.174Z,1750884751.174 [DAT](INFO): direction in FSK: [0.227123,-0.897581,0.377841]
2025-06-25T20:52:31.174Z,1750884751.174 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:31.184Z,1750884751.184 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=34.558964
2025-06-25T20:52:31.416Z,1750884751.416 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=34.790737
2025-06-25T20:52:31.666Z,1750884751.666 [DAT](INFO): DAT read: Rx Time:20:52:32.5208 

2025-06-25T20:52:31.666Z,1750884751.666 [DAT](INFO): Rx dataTimestamp_ set to:1750884751.665807
2025-06-25T20:52:31.667Z,1750884751.667 [DAT](INFO): DAT read: Bearing 286.6, -23.1 (Local)

2025-06-25T20:52:31.668Z,1750884751.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.6, -23.1 (Local)

2025-06-25T20:52:31.670Z,1750884751.670 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:31.675Z,1750884751.675 [DAT](INFO): DAT read: 20:52:32.5208 LVL= 13296, 16161,  9970, 18483, AGC= 39, IDX= 503,-0.05,-0.271,-0.069, 1.302, 0.808, PHS=-0.991,-0.830, 0.491, RAW= 215.7,  18.5, CAL= 223.4,  23.1, ROT= 286.6, -23.1

2025-06-25T20:52:31.676Z,1750884751.676 [DAT](INFO): got valid direction response:
 20:52:32.5208 LVL= 13296, 16161,  9970, 18483, AGC= 39, IDX= 503,-0.05,-0.271,-0.069, 1.302, 0.808, PHS=-0.991,-0.830, 0.491, RAW= 215.7,  18.5, CAL= 223.4,  23.1, ROT= 286.6, -23.1

2025-06-25T20:52:31.676Z,1750884751.676 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-25T20:52:31.677Z,1750884751.677 [DAT](INFO): direction in FSK: [0.262782,-0.881486,0.392337]
2025-06-25T20:52:31.677Z,1750884751.677 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:31.681Z,1750884751.681 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=35.056213
2025-06-25T20:52:31.917Z,1750884751.917 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=35.292202
2025-06-25T20:52:32.170Z,1750884752.170 [DAT](INFO): DAT read: Rx Time:20:52:33.0207 

2025-06-25T20:52:32.171Z,1750884752.171 [DAT](INFO): Rx dataTimestamp_ set to:1750884752.170293
2025-06-25T20:52:32.173Z,1750884752.173 [DAT](INFO): DAT read: Bearing 295.5, -24.3 (Local)

2025-06-25T20:52:32.173Z,1750884752.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.5, -24.3 (Local)

2025-06-25T20:52:32.177Z,1750884752.177 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:32.183Z,1750884752.183 [DAT](INFO): DAT read: 20:52:33.0207 LVL= 11712, 14657,  8594, 16275, AGC= 38, IDX= 502,-0.00,-0.739,-0.662, 0.854, 0.348, PHS=-0.998,-0.963, 0.504, RAW= 211.2,  19.1, CAL= 214.5,  24.3, ROT= 295.5, -24.3

2025-06-25T20:52:32.185Z,1750884752.185 [DAT](INFO): got valid direction response:
 20:52:33.0207 LVL= 11712, 14657,  8594, 16275, AGC= 38, IDX= 502,-0.00,-0.739,-0.662, 0.854, 0.348, PHS=-0.998,-0.963, 0.504, RAW= 211.2,  19.1, CAL= 214.5,  24.3, ROT= 295.5, -24.3

2025-06-25T20:52:32.186Z,1750884752.186 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-25T20:52:32.187Z,1750884752.187 [DAT](INFO): direction in FSK: [0.392369,-0.822619,0.411514]
2025-06-25T20:52:32.187Z,1750884752.187 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:32.199Z,1750884752.199 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=35.574398
2025-06-25T20:52:32.423Z,1750884752.423 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=35.798080
2025-06-25T20:52:32.674Z,1750884752.674 [DAT](INFO): DAT read: Rx Time:20:52:33.5208 

2025-06-25T20:52:32.674Z,1750884752.674 [DAT](INFO): Rx dataTimestamp_ set to:1750884752.673770
2025-06-25T20:52:32.675Z,1750884752.675 [DAT](INFO): DAT read: Bearing 299.9, -24.9 (Local)

2025-06-25T20:52:32.676Z,1750884752.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.9, -24.9 (Local)

2025-06-25T20:52:32.678Z,1750884752.678 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:32.683Z,1750884752.683 [DAT](INFO): DAT read: 20:52:33.5208 LVL= 11456, 14321,  8626, 16435, AGC= 38, IDX= 503, 0.04, 0.955, 0.958, 2.594, 2.067, PHS=-1.024,-1.062, 0.524, RAW= 208.8,  19.4, CAL= 210.1,  24.9, ROT= 299.9, -24.9

2025-06-25T20:52:32.684Z,1750884752.684 [DAT](INFO): got valid direction response:
 20:52:33.5208 LVL= 11456, 14321,  8626, 16435, AGC= 38, IDX= 503, 0.04, 0.955, 0.958, 2.594, 2.067, PHS=-1.024,-1.062, 0.524, RAW= 208.8,  19.4, CAL= 210.1,  24.9, ROT= 299.9, -24.9

2025-06-25T20:52:32.684Z,1750884752.684 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-25T20:52:32.685Z,1750884752.685 [DAT](INFO): direction in FSK: [0.452150,-0.786314,0.421036]
2025-06-25T20:52:32.685Z,1750884752.685 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:32.690Z,1750884752.690 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=36.065727
2025-06-25T20:52:32.925Z,1750884752.925 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=36.300137
2025-06-25T20:52:33.178Z,1750884753.178 [DAT](INFO): DAT read: Rx Time:20:52:34.0207 

2025-06-25T20:52:33.178Z,1750884753.178 [DAT](INFO): Rx dataTimestamp_ set to:1750884753.177848
2025-06-25T20:52:33.179Z,1750884753.179 [DAT](INFO): DAT read: Bearing 298.6, -24.3 (Local)

2025-06-25T20:52:33.180Z,1750884753.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.6, -24.3 (Local)

2025-06-25T20:52:33.182Z,1750884753.182 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:33.187Z,1750884753.187 [DAT](INFO): DAT read: 20:52:34.0207 LVL= 13008, 16113,  9714, 18147, AGC= 39, IDX= 502, 0.07,-0.228,-0.206, 1.414, 0.878, PHS=-1.018,-1.037, 0.533, RAW= 209.4,  19.0, CAL= 211.4,  24.3, ROT= 298.6, -24.3

2025-06-25T20:52:33.188Z,1750884753.188 [DAT](INFO): got valid direction response:
 20:52:34.0207 LVL= 13008, 16113,  9714, 18147, AGC= 39, IDX= 502, 0.07,-0.228,-0.206, 1.414, 0.878, PHS=-1.018,-1.037, 0.533, RAW= 209.4,  19.0, CAL= 211.4,  24.3, ROT= 298.6, -24.3

2025-06-25T20:52:33.188Z,1750884753.188 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-25T20:52:33.189Z,1750884753.189 [DAT](INFO): direction in FSK: [0.436281,-0.800197,0.411514]
2025-06-25T20:52:33.189Z,1750884753.189 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:33.193Z,1750884753.193 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=36.568512
2025-06-25T20:52:33.433Z,1750884753.433 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=36.807594
2025-06-25T20:52:33.681Z,1750884753.681 [DAT](INFO): DAT read: Rx Time:20:52:34.5208 

2025-06-25T20:52:33.682Z,1750884753.682 [DAT](INFO): Rx dataTimestamp_ set to:1750884753.681589
2025-06-25T20:52:33.683Z,1750884753.683 [DAT](INFO): DAT read: Bearing 296.3, -21.7 (Local)

2025-06-25T20:52:33.683Z,1750884753.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.3, -21.7 (Local)

2025-06-25T20:52:33.686Z,1750884753.686 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:33.690Z,1750884753.690 [DAT](INFO): DAT read: 20:52:34.5208 LVL= 11920, 14833,  9202, 15955, AGC= 38, IDX= 503, 0.13, 0.860, 0.902, 2.549, 1.954, PHS=-1.006,-1.005, 0.592, RAW= 210.0,  17.4, CAL= 213.7,  21.7, ROT= 296.3, -21.7

2025-06-25T20:52:33.692Z,1750884753.692 [DAT](INFO): got valid direction response:
 20:52:34.5208 LVL= 11920, 14833,  9202, 15955, AGC= 38, IDX= 503, 0.13, 0.860, 0.902, 2.549, 1.954, PHS=-1.006,-1.005, 0.592, RAW= 210.0,  17.4, CAL= 213.7,  21.7, ROT= 296.3, -21.7

2025-06-25T20:52:33.692Z,1750884753.692 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-25T20:52:33.693Z,1750884753.693 [DAT](INFO): direction in FSK: [0.411672,-0.832955,0.369747]
2025-06-25T20:52:33.693Z,1750884753.693 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:33.714Z,1750884753.714 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=37.089069
2025-06-25T20:52:33.933Z,1750884753.933 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=37.308067
2025-06-25T20:52:34.186Z,1750884754.186 [DAT](INFO): DAT read: Rx Time:20:52:35.0208 

2025-06-25T20:52:34.186Z,1750884754.186 [DAT](INFO): Rx dataTimestamp_ set to:1750884754.185729
2025-06-25T20:52:34.187Z,1750884754.187 [DAT](INFO): DAT read: Bearing 293.4, -20.8 (Local)

2025-06-25T20:52:34.188Z,1750884754.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.4, -20.8 (Local)

2025-06-25T20:52:34.190Z,1750884754.190 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:34.195Z,1750884754.195 [DAT](INFO): DAT read: 20:52:35.0208 LVL= 12976, 15329, 10914, 17171, AGC= 39, IDX= 502, 0.21,-0.388,-0.309, 1.354, 0.734, PHS=-1.034,-0.996, 0.617, RAW= 211.2,  17.0, CAL= 216.6,  20.8, ROT= 293.4, -20.8

2025-06-25T20:52:34.196Z,1750884754.196 [DAT](INFO): got valid direction response:
 20:52:35.0208 LVL= 12976, 15329, 10914, 17171, AGC= 39, IDX= 502, 0.21,-0.388,-0.309, 1.354, 0.734, PHS=-1.034,-0.996, 0.617, RAW= 211.2,  17.0, CAL= 216.6,  20.8, ROT= 293.4, -20.8

2025-06-25T20:52:34.196Z,1750884754.196 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-25T20:52:34.197Z,1750884754.197 [DAT](INFO): direction in FSK: [0.371264,-0.857941,0.355107]
2025-06-25T20:52:34.198Z,1750884754.198 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:34.201Z,1750884754.201 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=37.576572
2025-06-25T20:52:34.437Z,1750884754.437 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=37.812275
2025-06-25T20:52:34.689Z,1750884754.689 [DAT](INFO): DAT read: Rx Time:20:52:35.5208 

2025-06-25T20:52:34.690Z,1750884754.690 [DAT](INFO): Rx dataTimestamp_ set to:1750884754.689673
2025-06-25T20:52:34.691Z,1750884754.691 [DAT](INFO): DAT read: Bearing 287.3, -21.6 (Local)

2025-06-25T20:52:34.692Z,1750884754.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.3, -21.6 (Local)

2025-06-25T20:52:34.694Z,1750884754.694 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:34.701Z,1750884754.701 [DAT](INFO): DAT read: 20:52:35.5208 LVL= 12976, 15345, 12002, 17443, AGC= 39, IDX= 503, 0.30, 0.742, 0.932, 2.471, 1.897, PHS=-1.066,-0.917, 0.571, RAW= 214.7,  17.7, CAL= 222.7,  21.6, ROT= 287.3, -21.6

2025-06-25T20:52:34.703Z,1750884754.703 [DAT](INFO): got valid direction response:
 20:52:35.5208 LVL= 12976, 15345, 12002, 17443, AGC= 39, IDX= 503, 0.30, 0.742, 0.932, 2.471, 1.897, PHS=-1.066,-0.917, 0.571, RAW= 214.7,  17.7, CAL= 222.7,  21.6, ROT= 287.3, -21.6

2025-06-25T20:52:34.703Z,1750884754.703 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-25T20:52:34.715Z,1750884754.715 [DAT](INFO): direction in FSK: [0.276492,-0.887714,0.368125]
2025-06-25T20:52:34.725Z,1750884754.725 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:34.733Z,1750884754.733 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=38.107841
2025-06-25T20:52:34.941Z,1750884754.941 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=38.316078
2025-06-25T20:52:35.193Z,1750884755.193 [DAT](INFO): DAT read: Rx Time:20:52:36.0207 

2025-06-25T20:52:35.194Z,1750884755.194 [DAT](INFO): Rx dataTimestamp_ set to:1750884755.193534
2025-06-25T20:52:35.195Z,1750884755.195 [DAT](INFO): DAT read: Bearing 275.5, -21.3 (Local)

2025-06-25T20:52:35.195Z,1750884755.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.5, -21.3 (Local)

2025-06-25T20:52:35.198Z,1750884755.198 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:35.202Z,1750884755.202 [DAT](INFO): DAT read: 20:52:36.0207 LVL= 14240, 16289, 14434, 20387, AGC= 40, IDX= 502, 0.39,-1.427,-1.010, 0.256,-0.261, PHS=-1.078,-0.702, 0.514, RAW= 223.1,  17.2, CAL= 234.5,  21.3, ROT= 275.5, -21.3

2025-06-25T20:52:35.203Z,1750884755.203 [DAT](INFO): got valid direction response:
 20:52:36.0207 LVL= 14240, 16289, 14434, 20387, AGC= 40, IDX= 502, 0.39,-1.427,-1.010, 0.256,-0.261, PHS=-1.078,-0.702, 0.514, RAW= 223.1,  17.2, CAL= 234.5,  21.3, ROT= 275.5, -21.3

2025-06-25T20:52:35.204Z,1750884755.204 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-25T20:52:35.205Z,1750884755.205 [DAT](INFO): direction in FSK: [0.089299,-0.927402,0.363251]
2025-06-25T20:52:35.205Z,1750884755.205 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:35.209Z,1750884755.209 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=38.583961
2025-06-25T20:52:35.446Z,1750884755.446 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=38.820797
2025-06-25T20:52:35.697Z,1750884755.697 [DAT](INFO): DAT read: Rx Time:20:52:36.5208 

2025-06-25T20:52:35.698Z,1750884755.698 [DAT](INFO): Rx dataTimestamp_ set to:1750884755.697657
2025-06-25T20:52:35.699Z,1750884755.699 [DAT](INFO): DAT read: Bearing 261.7, -18.0 (Local)

2025-06-25T20:52:35.700Z,1750884755.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.7, -18.0 (Local)

2025-06-25T20:52:35.702Z,1750884755.702 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:35.707Z,1750884755.707 [DAT](INFO): DAT read: 20:52:36.5208 LVL= 13984, 15857, 15506, 21731, AGC= 40, IDX= 503,-0.48,-3.119,-2.376,-1.465,-1.932, PHS=-1.099,-0.397, 0.464, RAW= 236.6,  15.1, CAL= 248.3,  18.0, ROT= 261.7, -18.0

2025-06-25T20:52:35.708Z,1750884755.708 [DAT](INFO): got valid direction response:
 20:52:36.5208 LVL= 13984, 15857, 15506, 21731, AGC= 40, IDX= 503,-0.48,-3.119,-2.376,-1.465,-1.932, PHS=-1.099,-0.397, 0.464, RAW= 236.6,  15.1, CAL= 248.3,  18.0, ROT= 261.7, -18.0

2025-06-25T20:52:35.709Z,1750884755.709 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-25T20:52:35.710Z,1750884755.710 [DAT](INFO): direction in FSK: [-0.137291,-0.941095,0.309017]
2025-06-25T20:52:35.710Z,1750884755.710 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:35.714Z,1750884755.714 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=39.088902
2025-06-25T20:52:35.950Z,1750884755.950 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=39.324780
2025-06-25T20:52:36.204Z,1750884756.204 [DAT](INFO): DAT read: Rx Time:20:52:37.0207 

2025-06-25T20:52:36.204Z,1750884756.204 [DAT](INFO): Rx dataTimestamp_ set to:1750884756.203938
2025-06-25T20:52:36.206Z,1750884756.206 [DAT](INFO): DAT read: Bearing 256.3, -17.8 (Local)

2025-06-25T20:52:36.206Z,1750884756.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.3, -17.8 (Local)

2025-06-25T20:52:36.208Z,1750884756.208 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:36.213Z,1750884756.213 [DAT](INFO): DAT read: 20:52:37.0207 LVL= 15136, 16833, 18402, 24563, AGC= 41, IDX= 502,-0.40, 1.787, 2.657,-2.815, 3.025, PHS=-1.150,-0.322, 0.441, RAW= 241.4,  14.8, CAL= 253.7,  17.8, ROT= 256.3, -17.8

2025-06-25T20:52:36.215Z,1750884756.215 [DAT](INFO): got valid direction response:
 20:52:37.0207 LVL= 15136, 16833, 18402, 24563, AGC= 41, IDX= 502,-0.40, 1.787, 2.657,-2.815, 3.025, PHS=-1.150,-0.322, 0.441, RAW= 241.4,  14.8, CAL= 253.7,  17.8, ROT= 256.3, -17.8

2025-06-25T20:52:36.215Z,1750884756.215 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-25T20:52:36.236Z,1750884756.236 [DAT](INFO): direction in FSK: [-0.225501,-0.925040,0.305695]
2025-06-25T20:52:36.236Z,1750884756.236 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:36.243Z,1750884756.243 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=39.618130
2025-06-25T20:52:36.453Z,1750884756.453 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=39.828094
2025-06-25T20:52:36.707Z,1750884756.707 [DAT](INFO): DAT read: Rx Time:20:52:37.5208 

2025-06-25T20:52:36.707Z,1750884756.707 [DAT](INFO): Rx dataTimestamp_ set to:1750884756.706790
2025-06-25T20:52:36.709Z,1750884756.709 [DAT](INFO): DAT read: Bearing 251.5, -17.3 (Local)

2025-06-25T20:52:36.710Z,1750884756.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.5, -17.3 (Local)

2025-06-25T20:52:36.721Z,1750884756.721 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:36.757Z,1750884756.757 [DAT](INFO): DAT read: 20:52:37.5208 LVL= 13936, 18289, 15474, 20723, AGC= 39, IDX= 503,-0.26, 2.019, 2.980,-2.613,-3.025, PHS=-1.151,-0.232, 0.408, RAW= 245.9,  14.2, CAL= 258.5,  17.3, ROT= 251.5, -17.3

2025-06-25T20:52:36.759Z,1750884756.759 [DAT](INFO): got valid direction response:
 20:52:37.5208 LVL= 13936, 18289, 15474, 20723, AGC= 39, IDX= 503,-0.26, 2.019, 2.980,-2.613,-3.025, PHS=-1.151,-0.232, 0.408, RAW= 245.9,  14.2, CAL= 258.5,  17.3, ROT= 251.5, -17.3

2025-06-25T20:52:36.759Z,1750884756.759 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-25T20:52:36.768Z,1750884756.768 [DAT](INFO): direction in FSK: [-0.302950,-0.905422,0.297375]
2025-06-25T20:52:36.769Z,1750884756.769 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:36.773Z,1750884756.773 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=40.148411
2025-06-25T20:52:36.957Z,1750884756.957 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=40.332031
2025-06-25T20:52:37.075Z,1750884757.075 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-25T20:42:36.7Z
2025-06-25T20:52:37.080Z,1750884757.080 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-25T20:52:37.080Z,1750884757.080 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:52:37.080Z,1750884757.080 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-25T20:52:37.080Z,1750884757.080 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:52:37.080Z,1750884757.080 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-25T20:52:37.210Z,1750884757.210 [DAT](INFO): DAT read: Rx Time:20:52:38.0207 

2025-06-25T20:52:37.210Z,1750884757.210 [DAT](INFO): Rx dataTimestamp_ set to:1750884757.209711
2025-06-25T20:52:37.211Z,1750884757.211 [DAT](INFO): DAT read: Bearing 247.0, -18.1 (Local)

2025-06-25T20:52:37.212Z,1750884757.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.0, -18.1 (Local)

2025-06-25T20:52:37.214Z,1750884757.214 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:37.219Z,1750884757.219 [DAT](INFO): DAT read: 20:52:38.0207 LVL= 15616, 18209, 19730, 25651, AGC= 41, IDX= 502,-0.22, 0.629, 1.769, 2.345, 1.967, PHS=-1.250,-0.151, 0.375, RAW= 251.5,  14.2, CAL= 263.0,  18.1, ROT= 247.0, -18.1

2025-06-25T20:52:37.220Z,1750884757.220 [DAT](INFO): got valid direction response:
 20:52:38.0207 LVL= 15616, 18209, 19730, 25651, AGC= 41, IDX= 502,-0.22, 0.629, 1.769, 2.345, 1.967, PHS=-1.250,-0.151, 0.375, RAW= 251.5,  14.2, CAL= 263.0,  18.1, ROT= 247.0, -18.1

2025-06-25T20:52:37.220Z,1750884757.220 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-25T20:52:37.221Z,1750884757.221 [DAT](INFO): direction in FSK: [-0.371396,-0.874954,0.310676]
2025-06-25T20:52:37.221Z,1750884757.221 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:37.225Z,1750884757.225 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=40.600418
2025-06-25T20:52:37.425Z,1750884757.425 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-25T20:52:37.425Z,1750884757.425 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-25T20:52:37.425Z,1750884757.425 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-25T20:52:37.425Z,1750884757.425 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:52:37.425Z,1750884757.425 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-25T20:52:37.464Z,1750884757.464 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=40.838188
2025-06-25T20:52:37.714Z,1750884757.714 [DAT](INFO): DAT read: Rx Time:20:52:38.5210 

2025-06-25T20:52:37.714Z,1750884757.714 [DAT](INFO): Rx dataTimestamp_ set to:1750884757.714004
2025-06-25T20:52:37.716Z,1750884757.716 [DAT](INFO): DAT read: Bearing 247.1, -16.8 (Local)

2025-06-25T20:52:37.716Z,1750884757.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.1, -16.8 (Local)

2025-06-25T20:52:37.718Z,1750884757.718 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-25T20:52:37.723Z,1750884757.723 [DAT](INFO): DAT read: 20:52:38.5210 LVL= 14400, 17713, 15858, 20595, AGC= 39, IDX= 503,-0.12, 0.997, 2.147, 2.708, 2.310, PHS=-1.225,-0.115, 0.395, RAW= 252.0,  13.1, CAL= 262.9,  16.8, ROT= 247.1, -16.8

2025-06-25T20:52:37.729Z,1750884757.729 [DAT](INFO): got valid direction response:
 20:52:38.5210 LVL= 14400, 17713, 15858, 20595, AGC= 39, IDX= 503,-0.12, 0.997, 2.147, 2.708, 2.310, PHS=-1.225,-0.115, 0.395, RAW= 252.0,  13.1, CAL= 262.9,  16.8, ROT= 247.1, -16.8

2025-06-25T20:52:37.730Z,1750884757.730 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-25T20:52:37.731Z,1750884757.731 [DAT](INFO): direction in FSK: [-0.372516,-0.881869,0.289032]
2025-06-25T20:52:37.731Z,1750884757.731 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:37.739Z,1750884757.739 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=41.114040
2025-06-25T20:52:37.965Z,1750884757.965 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=41.340160
2025-06-25T20:52:38.217Z,1750884758.217 [DAT](INFO): DAT read: Rx Time:20:52:39.0209 

2025-06-25T20:52:38.218Z,1750884758.218 [DAT](INFO): Rx dataTimestamp_ set to:1750884758.217599
2025-06-25T20:52:38.219Z,1750884758.219 [DAT](INFO): DAT read: Bearing 246.1, -17.9 (Local)

2025-06-25T20:52:38.220Z,1750884758.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.1, -17.9 (Local)

2025-06-25T20:52:38.222Z,1750884758.222 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-25T20:52:38.227Z,1750884758.227 [DAT](INFO): DAT read: 20:52:39.0209 LVL= 15856, 18641, 19906, 25731, AGC= 41, IDX= 502,-0.10, 0.439, 1.635, 2.180, 1.802, PHS=-1.275,-0.120, 0.375, RAW= 253.0,  13.8, CAL= 263.9,  17.9, ROT= 246.1, -17.9

2025-06-25T20:52:38.228Z,1750884758.228 [DAT](INFO): got valid direction response:
 20:52:39.0209 LVL= 15856, 18641, 19906, 25731, AGC= 41, IDX= 502,-0.10, 0.439, 1.635, 2.180, 1.802, PHS=-1.275,-0.120, 0.375, RAW= 253.0,  13.8, CAL= 263.9,  17.9, ROT= 246.1, -17.9

2025-06-25T20:52:38.228Z,1750884758.228 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-25T20:52:38.229Z,1750884758.229 [DAT](INFO): direction in FSK: [-0.385531,-0.869999,0.307357]
2025-06-25T20:52:38.230Z,1750884758.230 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:38.233Z,1750884758.233 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=41.608456
2025-06-25T20:52:38.469Z,1750884758.469 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=41.844055
2025-06-25T20:52:38.722Z,1750884758.722 [DAT](INFO): DAT read: Rx Time:20:52:39.5211 

2025-06-25T20:52:38.723Z,1750884758.723 [DAT](INFO): Rx dataTimestamp_ set to:1750884758.722536
2025-06-25T20:52:38.724Z,1750884758.724 [DAT](INFO): DAT read: Bearing 248.5, -17.6 (Local)

2025-06-25T20:52:38.725Z,1750884758.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.5, -17.6 (Local)

2025-06-25T20:52:38.727Z,1750884758.727 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-25T20:52:38.731Z,1750884758.731 [DAT](INFO): DAT read: 20:52:39.5211 LVL= 14320, 17649, 16018, 20771, AGC= 39, IDX= 503,-0.02, 1.387, 2.474, 3.092, 2.696, PHS=-1.221,-0.175, 0.393, RAW= 249.7,  14.0, CAL= 261.5,  17.6, ROT= 248.5, -17.6

2025-06-25T20:52:38.741Z,1750884758.741 [DAT](INFO): got valid direction response:
 20:52:39.5211 LVL= 14320, 17649, 16018, 20771, AGC= 39, IDX= 503,-0.02, 1.387, 2.474, 3.092, 2.696, PHS=-1.221,-0.175, 0.393, RAW= 249.7,  14.0, CAL= 261.5,  17.6, ROT= 248.5, -17.6

2025-06-25T20:52:38.741Z,1750884758.741 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-25T20:52:38.742Z,1750884758.742 [DAT](INFO): direction in FSK: [-0.349345,-0.886865,0.302370]
2025-06-25T20:52:38.742Z,1750884758.742 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:38.746Z,1750884758.746 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=42.121330
2025-06-25T20:52:38.973Z,1750884758.973 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=42.348114
2025-06-25T20:52:39.225Z,1750884759.225 [DAT](INFO): DAT read: Rx Time:20:52:40.0210 

2025-06-25T20:52:39.226Z,1750884759.226 [DAT](INFO): Rx dataTimestamp_ set to:1750884759.225587
2025-06-25T20:52:39.227Z,1750884759.227 [DAT](INFO): DAT read: Bearing 247.2, -18.7 (Local)

2025-06-25T20:52:39.227Z,1750884759.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.2, -18.7 (Local)

2025-06-25T20:52:39.230Z,1750884759.230 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-25T20:52:39.234Z,1750884759.234 [DAT](INFO): DAT read: 20:52:40.0210 LVL= 17120, 17825, 19570, 25235, AGC= 41, IDX= 502,-0.05, 0.717, 1.825, 2.407, 2.042, PHS=-1.238,-0.171, 0.361, RAW= 250.9,  14.7, CAL= 262.8,  18.7, ROT= 247.2, -18.7

2025-06-25T20:52:39.236Z,1750884759.236 [DAT](INFO): got valid direction response:
 20:52:40.0210 LVL= 17120, 17825, 19570, 25235, AGC= 41, IDX= 502,-0.05, 0.717, 1.825, 2.407, 2.042, PHS=-1.238,-0.171, 0.361, RAW= 250.9,  14.7, CAL= 262.8,  18.7, ROT= 247.2, -18.7

2025-06-25T20:52:39.236Z,1750884759.236 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-25T20:52:39.237Z,1750884759.237 [DAT](INFO): direction in FSK: [-0.367059,-0.873198,0.320613]
2025-06-25T20:52:39.237Z,1750884759.237 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:39.241Z,1750884759.241 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=42.616184
2025-06-25T20:52:39.477Z,1750884759.477 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=42.852139
2025-06-25T20:52:39.730Z,1750884759.730 [DAT](INFO): DAT read: Rx Time:20:52:40.5210 

2025-06-25T20:52:39.730Z,1750884759.730 [DAT](INFO): Rx dataTimestamp_ set to:1750884759.729709
2025-06-25T20:52:39.731Z,1750884759.731 [DAT](INFO): DAT read: Bearing 253.5, -19.2 (Local)

2025-06-25T20:52:39.732Z,1750884759.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.5, -19.2 (Local)

2025-06-25T20:52:39.734Z,1750884759.734 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-25T20:52:39.739Z,1750884759.739 [DAT](INFO): DAT read: 20:52:40.5210 LVL= 13872, 17425, 17586, 22771, AGC= 40, IDX= 502, 0.00, 1.415, 2.313, 3.074, 2.678, PHS=-1.175,-0.318, 0.393, RAW= 243.1,  16.0, CAL= 256.5,  19.2, ROT= 253.5, -19.2

2025-06-25T20:52:39.742Z,1750884759.742 [DAT](INFO): got valid direction response:
 20:52:40.5210 LVL= 13872, 17425, 17586, 22771, AGC= 40, IDX= 502, 0.00, 1.415, 2.313, 3.074, 2.678, PHS=-1.175,-0.318, 0.393, RAW= 243.1,  16.0, CAL= 256.5,  19.2, ROT= 253.5, -19.2

2025-06-25T20:52:39.743Z,1750884759.743 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-25T20:52:39.744Z,1750884759.744 [DAT](INFO): direction in FSK: [-0.268217,-0.905487,0.328867]
2025-06-25T20:52:39.744Z,1750884759.744 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:39.753Z,1750884759.753 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=43.128468
2025-06-25T20:52:39.981Z,1750884759.981 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=43.356045
2025-06-25T20:52:40.234Z,1750884760.234 [DAT](INFO): DAT read: Rx Time:20:52:41.0209 

2025-06-25T20:52:40.235Z,1750884760.235 [DAT](INFO): Rx dataTimestamp_ set to:1750884760.234349
2025-06-25T20:52:40.236Z,1750884760.236 [DAT](INFO): DAT read: Bearing 260.1, -20.1 (Local)

2025-06-25T20:52:40.236Z,1750884760.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.1, -20.1 (Local)

2025-06-25T20:52:40.238Z,1750884760.238 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-25T20:52:40.243Z,1750884760.243 [DAT](INFO): DAT read: 20:52:41.0209 LVL= 13472, 16609, 16866, 21667, AGC= 40, IDX= 501, 0.03, 0.873, 1.624, 2.521, 2.104, PHS=-1.143,-0.433, 0.414, RAW= 237.1,  16.9, CAL= 249.9,  20.1, ROT= 260.1, -20.1

2025-06-25T20:52:40.244Z,1750884760.244 [DAT](INFO): got valid direction response:
 20:52:41.0209 LVL= 13472, 16609, 16866, 21667, AGC= 40, IDX= 501, 0.03, 0.873, 1.624, 2.521, 2.104, PHS=-1.143,-0.433, 0.414, RAW= 237.1,  16.9, CAL= 249.9,  20.1, ROT= 260.1, -20.1

2025-06-25T20:52:40.245Z,1750884760.245 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-25T20:52:40.246Z,1750884760.246 [DAT](INFO): direction in FSK: [-0.161458,-0.925110,0.343660]
2025-06-25T20:52:40.246Z,1750884760.246 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:40.255Z,1750884760.255 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=43.630714
2025-06-25T20:52:40.485Z,1750884760.485 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=43.860477
2025-06-25T20:52:40.738Z,1750884760.738 [DAT](INFO): DAT read: Rx Time:20:52:41.5208 

2025-06-25T20:52:40.739Z,1750884760.739 [DAT](INFO): Rx dataTimestamp_ set to:1750884760.738520
2025-06-25T20:52:40.740Z,1750884760.740 [DAT](INFO): DAT read: Bearing 268.0, -21.4 (Local)

2025-06-25T20:52:40.741Z,1750884760.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.0, -21.4 (Local)

2025-06-25T20:52:40.743Z,1750884760.743 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:40.762Z,1750884760.762 [DAT](INFO): DAT read: 20:52:41.5208 LVL= 13344, 16241, 16034, 20819, AGC= 40, IDX= 502, 0.06, 2.640,-3.051,-1.983,-2.447, PHS=-1.108,-0.556, 0.462, RAW= 230.3,  17.1, CAL= 242.0,  21.4, ROT= 268.0, -21.4

2025-06-25T20:52:40.763Z,1750884760.763 [DAT](INFO): got valid direction response:
 20:52:41.5208 LVL= 13344, 16241, 16034, 20819, AGC= 40, IDX= 502, 0.06, 2.640,-3.051,-1.983,-2.447, PHS=-1.108,-0.556, 0.462, RAW= 230.3,  17.1, CAL= 242.0,  21.4, ROT= 268.0, -21.4

2025-06-25T20:52:40.764Z,1750884760.764 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-25T20:52:40.765Z,1750884760.765 [DAT](INFO): direction in FSK: [-0.032493,-0.930489,0.364877]
2025-06-25T20:52:40.765Z,1750884760.765 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:40.781Z,1750884760.781 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=44.156143
2025-06-25T20:52:40.989Z,1750884760.989 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=44.364185
2025-06-25T20:52:41.242Z,1750884761.242 [DAT](INFO): DAT read: Rx Time:20:52:42.0207 

2025-06-25T20:52:41.243Z,1750884761.243 [DAT](INFO): Rx dataTimestamp_ set to:1750884761.242727
2025-06-25T20:52:41.245Z,1750884761.245 [DAT](INFO): DAT read: Bearing 268.8, -20.5 (Local)

2025-06-25T20:52:41.246Z,1750884761.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.8, -20.5 (Local)

2025-06-25T20:52:41.249Z,1750884761.249 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:41.258Z,1750884761.258 [DAT](INFO): DAT read: 20:52:42.0207 LVL= 13392, 16337, 15138, 20003, AGC= 40, IDX= 501, 0.08, 1.311, 1.883, 2.960, 2.477, PHS=-1.079,-0.547, 0.480, RAW= 229.6,  16.4, CAL= 241.2,  20.5, ROT= 268.8, -20.5

2025-06-25T20:52:41.261Z,1750884761.261 [DAT](INFO): got valid direction response:
 20:52:42.0207 LVL= 13392, 16337, 15138, 20003, AGC= 40, IDX= 501, 0.08, 1.311, 1.883, 2.960, 2.477, PHS=-1.079,-0.547, 0.480, RAW= 229.6,  16.4, CAL= 241.2,  20.5, ROT= 268.8, -20.5

2025-06-25T20:52:41.261Z,1750884761.261 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-25T20:52:41.263Z,1750884761.263 [DAT](INFO): direction in FSK: [-0.019616,-0.936467,0.350207]
2025-06-25T20:52:41.263Z,1750884761.263 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:41.268Z,1750884761.268 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=44.642933
2025-06-25T20:52:41.493Z,1750884761.493 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=44.868065
2025-06-25T20:52:41.752Z,1750884761.752 [DAT](INFO): DAT read: Rx Time:20:52:42.5208 

2025-06-25T20:52:41.753Z,1750884761.753 [DAT](INFO): Rx dataTimestamp_ set to:1750884761.752657
2025-06-25T20:52:41.754Z,1750884761.754 [DAT](INFO): DAT read: Bearing 274.0, -21.6 (Local)

2025-06-25T20:52:41.755Z,1750884761.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.0, -21.6 (Local)

2025-06-25T20:52:41.757Z,1750884761.757 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:41.762Z,1750884761.762 [DAT](INFO): DAT read: 20:52:42.5208 LVL= 10832, 17105, 11922, 15859, AGC= 38, IDX= 502, 0.12, 3.055,-2.784,-1.599,-2.087, PHS=-1.053,-0.650, 0.485, RAW= 224.6,  17.3, CAL= 236.0,  21.6, ROT= 274.0, -21.6

2025-06-25T20:52:41.763Z,1750884761.763 [DAT](INFO): got valid direction response:
 20:52:42.5208 LVL= 10832, 17105, 11922, 15859, AGC= 38, IDX= 502, 0.12, 3.055,-2.784,-1.599,-2.087, PHS=-1.053,-0.650, 0.485, RAW= 224.6,  17.3, CAL= 236.0,  21.6, ROT= 274.0, -21.6

2025-06-25T20:52:41.763Z,1750884761.763 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-25T20:52:41.772Z,1750884761.772 [DAT](INFO): direction in FSK: [0.064858,-0.927512,0.368125]
2025-06-25T20:52:41.773Z,1750884761.773 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:41.776Z,1750884761.776 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=45.151451
2025-06-25T20:52:41.997Z,1750884761.997 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=45.372044
2025-06-25T20:52:42.254Z,1750884762.254 [DAT](INFO): DAT read: Rx Time:20:52:43.0208 

2025-06-25T20:52:42.255Z,1750884762.255 [DAT](INFO): Rx dataTimestamp_ set to:1750884762.254367
2025-06-25T20:52:42.256Z,1750884762.256 [DAT](INFO): DAT read: Bearing 274.8, -20.9 (Local)

2025-06-25T20:52:42.256Z,1750884762.256 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.8, -20.9 (Local)

2025-06-25T20:52:42.259Z,1750884762.259 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:42.263Z,1750884762.263 [DAT](INFO): DAT read: 20:52:43.0208 LVL= 12256, 15745, 12690, 17283, AGC= 39, IDX= 501, 0.14, 1.856, 2.279,-2.788, 2.988, PHS=-1.045,-0.662, 0.504, RAW= 223.7,  16.9, CAL= 235.2,  20.9, ROT= 274.8, -20.9

2025-06-25T20:52:42.265Z,1750884762.265 [DAT](INFO): got valid direction response:
 20:52:43.0208 LVL= 12256, 15745, 12690, 17283, AGC= 39, IDX= 501, 0.14, 1.856, 2.279,-2.788, 2.988, PHS=-1.045,-0.662, 0.504, RAW= 223.7,  16.9, CAL= 235.2,  20.9, ROT= 274.8, -20.9

2025-06-25T20:52:42.265Z,1750884762.265 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-25T20:52:42.266Z,1750884762.266 [DAT](INFO): direction in FSK: [0.078172,-0.930928,0.356738]
2025-06-25T20:52:42.266Z,1750884762.266 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:42.270Z,1750884762.270 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=45.645531
2025-06-25T20:52:42.508Z,1750884762.508 [DAT](INFO): DAT read: Rx Time:20:52:43.5208 

2025-06-25T20:52:42.509Z,1750884762.509 [DAT](INFO): Rx dataTimestamp_ set to:1750884762.508456
2025-06-25T20:52:42.520Z,1750884762.520 [DAT](INFO): DAT read: Bearing 275.2, -20.8 (Local)

2025-06-25T20:52:42.521Z,1750884762.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.2, -20.8 (Local)

2025-06-25T20:52:42.530Z,1750884762.530 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:42.545Z,1750884762.545 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-06-25T20:52:42.553Z,1750884762.553 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=45.927414
2025-06-25T20:52:42.761Z,1750884762.761 [DAT](INFO): DAT read: 20:52:43.5208 LVL= 10960, 16817, 10898, 15571, AGC= 38, IDX= 502, 0.19, 3.027,-2.845,-1.627,-2.133, PHS=-1.035,-0.665, 0.503, RAW= 223.3,  16.9, CAL= 234.8,  20.8, ROT= 275.2, -20.8

2025-06-25T20:52:42.763Z,1750884762.763 [DAT](INFO): got valid direction response:
 20:52:43.5208 LVL= 10960, 16817, 10898, 15571, AGC= 38, IDX= 502, 0.19, 3.027,-2.845,-1.627,-2.133, PHS=-1.035,-0.665, 0.503, RAW= 223.3,  16.9, CAL= 234.8,  20.8, ROT= 275.2, -20.8

2025-06-25T20:52:42.763Z,1750884762.763 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-06-25T20:52:42.765Z,1750884762.765 [DAT](INFO): direction in FSK: [0.084726,-0.930978,0.355107]
2025-06-25T20:52:42.770Z,1750884762.770 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=46.144993
2025-06-25T20:52:43.013Z,1750884763.013 [DAT](INFO): DAT read: Rx Time:20:52:44.0208 

2025-06-25T20:52:43.015Z,1750884763.015 [DAT](INFO): Rx dataTimestamp_ set to:1750884763.013592
2025-06-25T20:52:43.019Z,1750884763.019 [DAT](INFO): DAT read: Bearing 278.6, -22.0 (Local)

2025-06-25T20:52:43.020Z,1750884763.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.6, -22.0 (Local)

2025-06-25T20:52:43.031Z,1750884763.031 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:43.037Z,1750884763.037 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-25T20:52:43.050Z,1750884763.050 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=46.424614
2025-06-25T20:52:43.265Z,1750884763.265 [DAT](INFO): DAT read: 20:52:44.0208 LVL= 12432, 15713, 11858, 16819, AGC= 39, IDX= 501, 0.21, 2.404, 2.740,-2.235,-2.743, PHS=-1.047,-0.753, 0.505, RAW= 220.3,  17.8, CAL= 231.4,  22.0, ROT= 278.6, -22.0

2025-06-25T20:52:43.266Z,1750884763.266 [DAT](INFO): got valid direction response:
 20:52:44.0208 LVL= 12432, 15713, 11858, 16819, AGC= 39, IDX= 501, 0.21, 2.404, 2.740,-2.235,-2.743, PHS=-1.047,-0.753, 0.505, RAW= 220.3,  17.8, CAL= 231.4,  22.0, ROT= 278.6, -22.0

2025-06-25T20:52:43.266Z,1750884763.266 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-06-25T20:52:43.267Z,1750884763.267 [DAT](INFO): direction in FSK: [0.138647,-0.916759,0.374607]
2025-06-25T20:52:43.270Z,1750884763.270 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=46.645611
2025-06-25T20:52:43.517Z,1750884763.517 [DAT](INFO): DAT read: Rx Time:20:52:44.5208 

2025-06-25T20:52:43.519Z,1750884763.519 [DAT](INFO): Rx dataTimestamp_ set to:1750884763.517880
2025-06-25T20:52:43.531Z,1750884763.531 [DAT](INFO): DAT read: Bearing 281.9, -22.5 (Local)

2025-06-25T20:52:43.532Z,1750884763.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.9, -22.5 (Local)

2025-06-25T20:52:43.541Z,1750884763.541 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:43.548Z,1750884763.548 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-25T20:52:43.557Z,1750884763.557 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=46.926903
2025-06-25T20:52:43.769Z,1750884763.769 [DAT](INFO): DAT read: 20:52:44.5208 LVL= 12864, 15553, 11986, 17075, AGC= 39, IDX= 501, 0.21, 2.969,-3.038,-1.654,-2.172, PHS=-1.054,-0.819, 0.515, RAW= 218.0,  18.1, CAL= 228.1,  22.5, ROT= 281.9, -22.5

2025-06-25T20:52:43.770Z,1750884763.770 [DAT](INFO): got valid direction response:
 20:52:44.5208 LVL= 12864, 15553, 11986, 17075, AGC= 39, IDX= 501, 0.21, 2.969,-3.038,-1.654,-2.172, PHS=-1.054,-0.819, 0.515, RAW= 218.0,  18.1, CAL= 228.1,  22.5, ROT= 281.9, -22.5

2025-06-25T20:52:43.770Z,1750884763.770 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-06-25T20:52:43.771Z,1750884763.771 [DAT](INFO): direction in FSK: [0.190508,-0.904024,0.382683]
2025-06-25T20:52:43.774Z,1750884763.774 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=47.149582
2025-06-25T20:52:44.020Z,1750884764.020 [DAT](INFO): DAT read: Rx Time:20:52:45.0207 

2025-06-25T20:52:44.022Z,1750884764.022 [DAT](INFO): Rx dataTimestamp_ set to:1750884764.020749
2025-06-25T20:52:44.025Z,1750884764.025 [DAT](INFO): DAT read: Bearing 285.2, -22.2 (Local)

2025-06-25T20:52:44.027Z,1750884764.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.2, -22.2 (Local)

2025-06-25T20:52:44.031Z,1750884764.031 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:44.035Z,1750884764.035 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-25T20:52:44.039Z,1750884764.039 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:52:44.039Z,1750884764.039 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:52:44.040Z,1750884764.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:44.274Z,1750884764.274 [DAT](INFO): DAT read: 20:52:45.0207 LVL= 12656, 15137, 12418, 17395, AGC= 39, IDX= 500, 0.25, 2.240, 2.469,-2.352,-295, PHS=-1.060,-0873, 0.540, RAW= 216.2,  18.0, CAL= 224.8,  22.2, ROT= 285.2, -22.2

2025-06-25T20:52:44.275Z,1750884764.275 [DAT](INFO): got valid direction response:
 20:52:45.0207 LVL= 12656, 15137, 12418, 17395, AGC= 39, IDX= 500, 0.25, 2.240, 2.469,-2.352,-295, PHS=-1.060,-0873, 0.540, RAW= 216.2,  18.0, CAL= 224.8,  22.2, ROT= 285.2, -22.2

2025-06-25T20:52:44.276Z,1750884764.276 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:52:44.277Z,1750884764.277 [DAT](INFO): direction in FSK: [0.242753,-0.893480,0.377841]
2025-06-25T20:52:44.280Z,1750884764.280 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:44.280Z,1750884764.280 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:44.281Z,1750884764.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:44.524Z,1750884764.524 [DAT](INFO): DAT read: Rx Time:20:52:45.5208 

2025-06-25T20:52:44.526Z,1750884764.526 [DAT](INFO): Rx dataTimestamp_ set to:1750884764.525131
2025-06-25T20:52:44.530Z,1750884764.530 [DAT](INFO): DAT read: Bearing 276.3, -21.4 (Local)

2025-06-25T20:52:44.531Z,1750884764.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.3, -21.4 (Local)

2025-06-25T20:52:44.535Z,1750884764.535 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:44.539Z,1750884764.539 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:44.542Z,1750884764.542 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:44.543Z,1750884764.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:44.779Z,1750884764.779 [DAT](INFO): DAT read: 20:52:45.5208 LVL= 14320, 16481, 14322, 19955, AGC= 40, IDX= 501, 0.34, 2.571, 2.964,-2.049,-2.562, PHS=-1062-0.710, 0.510, RAW= 222.3,  17.4, CAL= 233.7,  21.4, ROT= 276.3, -21.4

2025-06-25T20:52:44.781Z,1750884764.781 [DAT](INFO): unknown deviceResponse_: 20:52:45.5208 LVL= 14320, 16481, 14322, 19955, AGC= 40, IDX= 501, 0.34, 2.571, 2.964,-2.049,-2.562, PHS=-1062-0.710, 0.510, RAW= 222.3,  17.4, CAL= 233.7,  21.4, ROT= 276.3, -21.4

2025-06-25T20:52:44.782Z,1750884764.782 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:44.782Z,1750884764.782 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:44.782Z,1750884764.782 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:45.028Z,1750884765.028 [DAT](INFO): DAT read: Rx Time:20:52:46.0207 

2025-06-25T20:52:45.030Z,1750884765.030 [DAT](INFO): Rx dataTimestamp_ set to:1750884765.028548
2025-06-25T20:52:45.033Z,1750884765.033 [DAT](INFO): DAT read: Bearing 262.9, -17.4 (Local)

2025-06-25T20:52:45.034Z,1750884765.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.9, -17.4 (Local)

2025-06-25T20:52:45.039Z,1750884765.039 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:45.043Z,1750884765.043 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:45.046Z,1750884765.046 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:45.047Z,1750884765.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:45.281Z,1750884765.281 [DAT](INFO): DAT read: 20:52:46.0207 LVL= 12640, 16305, 12738, 18275, AGC= 39, IDX= 501,-0.48,-0.820,-0.109, 0.801, 0.323, PHS=-1.055,-0.385, 0.475, A= 25.9,  14.4, CAL= 247.1,  17.4, ROT= 262.9, -17.4

2025-06-25T20:52:45.282Z,1750884765.282 [DAT](INFO): unknown deviceResponse_: 20:52:46.0207 LVL= 12640, 16305, 12738, 18275, AGC= 39, IDX= 501,-0.48,-0.820,-0.109, 0.801, 0.323, PHS=-1.055,-0.385, 0.475, A= 25.9,  14.4, CAL= 247.1,  17.4, ROT= 262.9, -17.4

2025-06-25T20:52:45.282Z,1750884765.282 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:45.282Z,1750884765.282 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:45.282Z,1750884765.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:45.537Z,1750884765.537 [DAT](INFO): DAT read: Rx Time:20:52:46.5208 

2025-06-25T20:52:45.538Z,1750884765.538 [DAT](INFO): Rx dataTimestamp_ set to:1750884765.537105
2025-06-25T20:52:45.542Z,1750884765.542 [DAT](INFO): DAT read: Bearing 259.3, -16.6 (Local)

2025-06-25T20:52:45.543Z,1750884765.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3, -16.6 (Local)

2025-06-25T20:52:45.572Z,1750884765.572 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:45.596Z,1750884765.596 [DAT](INFO): DAT read: 20:52:46.5208 LVL= 14256, 15697, 15762, 20931, AGC= 40, IDX= 502,-0.40, 0.286, 1.105, 1.962, 1.480, PHS=-1.107,-0.328, 0.479, RAW= 239.4,  13.8, CAL= 250.7,  16.6, ROT= 259.3, -16.6

2025-06-25T20:52:45.598Z,1750884765.598 [DAT](INFO): got valid direction response:
 20:52:46.5208 LVL= 14256, 15697, 15762, 20931, AGC= 40, IDX= 502,-0.40, 0.286, 1.105, 1.962, 1.480, PHS=-1.107,-0.328, 0.479, RAW= 239.4,  13.8, CAL= 250.7,  16.6, ROT= 259.3, -16.6

2025-06-25T20:52:45.598Z,1750884765.598 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:45.609Z,1750884765.609 [DAT](INFO): direction in FSK: [-0.177929,-0.941660,0.285688]
2025-06-25T20:52:45.610Z,1750884765.610 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:45.673Z,1750884765.673 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:45.674Z,1750884765.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:45.780Z,1750884765.780 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:45.781Z,1750884765.781 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:45.781Z,1750884765.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:46.037Z,1750884766.037 [DAT](INFO): DAT read: Rx Time:20:52:47.0207 

2025-06-25T20:52:46.038Z,1750884766.038 [DAT](INFO): Rx dataTimestamp_ set to:1750884766.037332
2025-06-25T20:52:46.042Z,1750884766.042 [DAT](INFO): DAT read: Bearing 256.2, -16.6 (Local)

2025-06-25T20:52:46.044Z,1750884766.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.2, -16.6 (Local)

2025-06-25T20:52:46.050Z,1750884766.050 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:46.057Z,1750884766.057 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:46.059Z,1750884766.059 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:46.059Z,1750884766.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:46.291Z,1750884766.291 [DAT](INFO): DAT read: 20:52:47.0207 LVL= 13808, 15809, 16146, 21459, AGC= 40, IDX= 501,-0.33,-1.064,-0.181, 0.611, 0.149, PHS=-1.126,-0.283, 0.458, RAW= 242.1,  13.8, CAL= 253.8,  16.6, ROT= 256.2, -16.6

2025-06-25T20:52:46.292Z,1750884766.292 [DAT](INFO): got valid direction response:
 20:52:47.0207 LVL= 13808, 15809, 16146, 21459, AGC= 40, IDX= 501,-0.33,-1.064,-0.181, 0.611, 0.149, PHS=-1.126,-0.283, 0.458, RAW= 242.1,  13.8, CAL= 253.8,  16.6, ROT= 256.2, -16.6

2025-06-25T20:52:46.293Z,1750884766.293 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:52:46.294Z,1750884766.294 [DAT](INFO): direction in FSK: [-0.228592,-0.930660,0.285688]
2025-06-25T20:52:46.297Z,1750884766.297 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:46.297Z,1750884766.297 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:46.297Z,1750884766.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:46.541Z,1750884766.541 [DAT](INFO): DAT read: Rx Time:20:52:47.5208 

2025-06-25T20:52:46.543Z,1750884766.543 [DAT](INFO): Rx dataTimestamp_ set to:1750884766.541654
2025-06-25T20:52:46.546Z,1750884766.546 [DAT](INFO): DAT read: Bearing 254.4, -16.2 (Local)

2025-06-25T20:52:46.547Z,1750884766.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.4, -16.2 (Local)

2025-06-25T20:52:46.553Z,1750884766.553 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:46.556Z,1750884766.556 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:46.559Z,1750884766.559 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:46.559Z,1750884766.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:46.793Z,1750884766.793 [DAT](INFO): DAT read: 20:52:47.5208 LVL= 15008, 16513, 18786, 24179, AGC= 41, IDX= 502,-0.27,-0.091, 0.855, 1.619, 1.154, PHS=-1.157,-0.252, 0.462, RAW= 243.9,  13.4, CAL= 255.6,  16.2, ROT= 254.4, -16.2

2025-06-25T20:52:46.794Z,1750884766.794 [DAT](INFO): got valid direction response:
 20:52:47.5208 LVL= 15008, 16513, 18786, 24179, AGC= 41, IDX= 502,-0.27,-0.091, 0.855, 1.619, 1.154, PHS=-1.157,-0.252, 0.462, RAW= 243.9,  13.4, CAL= 255.6,  16.2, ROT= 254.4, -16.2

2025-06-25T20:52:46.794Z,1750884766.794 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-25T20:52:46.795Z,1750884766.795 [DAT](INFO): direction in FSK: [-0.258242,-0.924919,0.278991]
2025-06-25T20:52:46.798Z,1750884766.798 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:46.799Z,1750884766.799 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:46.799Z,1750884766.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:47.045Z,1750884767.045 [DAT](INFO): DAT read: Rx Time:20:52:48.0207 

2025-06-25T20:52:47.047Z,1750884767.047 [DAT](INFO): Rx dataTimestamp_ set to:1750884767.045792
2025-06-25T20:52:47.051Z,1750884767.051 [DAT](INFO): DAT read: Bearing 253.1, -16.3 (Local)

2025-06-25T20:52:47.052Z,1750884767.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.1, -16.3 (Local)

2025-06-25T20:52:47.059Z,1750884767.059 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:47.096Z,1750884767.096 [DAT](INFO): DAT read: 20:52:48.0207 LVL= 15248, 16577, 18818, 24867, AGC= 41, IDX= 501,-0.19,-1.290,-0.325, 0.409,-0.042, PHS=-1.160,-0.236, 0.448, RAW= 244.9,  13.5, CAL= 256.9,  16.3, ROT= 253.1, -16.3

2025-06-25T20:52:47.097Z,1750884767.097 [DAT](INFO): got valid direction response:
 20:52:48.0207 LVL= 15248, 16577, 18818, 24867, AGC= 41, IDX= 501,-0.19,-1.290,-0.325, 0.409,-0.042, PHS=-1.160,-0.236, 0.448, RAW= 244.9,  13.5, CAL= 256.9,  16.3, ROT= 253.1, -16.3

2025-06-25T20:52:47.097Z,1750884767.097 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:47.098Z,1750884767.098 [DAT](INFO): direction in FSK: [-0.279017,-0.918355,0.280667]
2025-06-25T20:52:47.099Z,1750884767.099 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:47.110Z,1750884767.110 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:47.111Z,1750884767.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:47.292Z,1750884767.292 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:47.293Z,1750884767.293 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:47.293Z,1750884767.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:47.548Z,1750884767.548 [DAT](INFO): DAT read: Rx Time:20:52:48.5207 

2025-06-25T20:52:47.550Z,1750884767.550 [DAT](INFO): Rx dataTimestamp_ set to:1750884767.549113
2025-06-25T20:52:47.554Z,1750884767.554 [DAT](INFO): DAT read: Bearing 251.7, -15.2 (Local)

2025-06-25T20:52:47.555Z,1750884767.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.7, -15.2 (Local)

2025-06-25T20:52:47.560Z,1750884767.560 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:47.565Z,1750884767.565 [DAT](INFO): DAT read: 20:52:48.5207 LVL= 13856, 17393, 16786, 22131, AGC= 40, IDX= 501,-0.11,-2.052,-1.033,-0.360,-0.816, PHS=-1.149,-0.170, 0.453, RAW= 247.3,  12.4, CAL= 258.3,  15.2, ROT= 251.7, -15.2

2025-06-25T20:52:47.566Z,1750884767.566 [DAT](INFO): got valid direction response:
 20:52:48.5207 LVL= 13856, 17393, 16786, 22131, AGC= 40, IDX= 501,-0.11,-2.052,-1.033,-0.360,-0.816, PHS=-1.149,-0.170, 0.453, RAW= 247.3,  12.4, CAL= 258.3,  15.2, ROT= 251.7, -15.2

2025-06-25T20:52:47.566Z,1750884767.566 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:47.567Z,1750884767.567 [DAT](INFO): direction in FSK: [-0.303008,-0.916211,0.262189]
2025-06-25T20:52:47.567Z,1750884767.567 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:47.571Z,1750884767.571 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:47.571Z,1750884767.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:47.797Z,1750884767.797 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:47.797Z,1750884767.797 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:47.797Z,1750884767.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:48.053Z,1750884768.053 [DAT](INFO): DAT read: Rx Time:20:52:49.0206 

2025-06-25T20:52:48.055Z,1750884768.055 [DAT](INFO): Rx dataTimestamp_ set to:1750884768.054129
2025-06-25T20:52:48.063Z,1750884768.063 [DAT](INFO): DAT read: Bearing 252.7, -15.8 (Local)

2025-06-25T20:52:48.063Z,1750884768.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.7, -15.8 (Local)

2025-06-25T20:52:48.066Z,1750884768.066 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-25T20:52:48.071Z,1750884768.071 [DAT](INFO): DAT read: 20:52:49.0206 LVL= 14064, 16817, 17170, 22371, AGC= 40, IDX= 500,-0.08,-2.647,-1.666,-0.950,-1.405, PHS=-1.154,-0.214, 0.452, RAW= 245.6,  13.0, CAL= 257.3,  15.8, ROT= 252.7, -15.8

2025-06-25T20:52:48.072Z,1750884768.072 [DAT](INFO): got valid direction response:
 20:52:49.0206 LVL= 14064, 16817, 17170, 22371, AGC= 40, IDX= 500,-0.08,-2.647,-1.666,-0.950,-1.405, PHS=-1.154,-0.214, 0.452, RAW= 245.6,  13.0, CAL= 257.3,  15.8, ROT= 252.7, -15.8

2025-06-25T20:52:48.072Z,1750884768.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:48.073Z,1750884768.073 [DAT](INFO): direction in FSK: [-0.286139,-0.918688,0.272280]
2025-06-25T20:52:48.074Z,1750884768.074 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:48.078Z,1750884768.078 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:48.078Z,1750884768.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:48.301Z,1750884768.301 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:48.302Z,1750884768.302 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:48.302Z,1750884768.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:48.557Z,1750884768.557 [DAT](INFO): DAT read: Rx Time:20:52:49.5211 

2025-06-25T20:52:48.559Z,1750884768.559 [DAT](INFO): Rx dataTimestamp_ set to:1750884768.557990
2025-06-25T20:52:48.560Z,1750884768.560 [DAT](INFO): DAT read: Bearing 252.3, -16.2 (Local)

2025-06-25T20:52:48.561Z,1750884768.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.3, -16.2 (Local)

2025-06-25T20:52:48.563Z,1750884768.563 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-25T20:52:48.577Z,1750884768.577 [DAT](INFO): DAT read: 20:52:49.5211 LVL= 13584, 13201, 15986, 22355, AGC= 44, IDX=   5,-0.05,-1.609,-0.638, 0.066,-0.374, PHS=-1.146,-0.217, 0.438, RAW= 245.7,  13.3, CAL= 257.7,  16.2, ROT= 252.3, -16.2

2025-06-25T20:52:48.578Z,1750884768.578 [DAT](INFO): got valid direction response:
 20:52:49.5211 LVL= 13584, 13201, 15986, 22355, AGC= 44, IDX=   5,-0.05,-1.609,-0.638, 0.066,-0.374, PHS=-1.146,-0.217, 0.438, RAW= 245.7,  13.3, CAL= 257.7,  16.2, ROT= 252.3, -16.2

2025-06-25T20:52:48.579Z,1750884768.579 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:48.588Z,1750884768.588 [DAT](INFO): direction in FSK: [-0.291961,-0.914835,0.278991]
2025-06-25T20:52:48.588Z,1750884768.588 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:48.591Z,1750884768.591 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:48.592Z,1750884768.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:48.805Z,1750884768.805 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:48.805Z,1750884768.805 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:48.806Z,1750884768.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:49.060Z,1750884769.060 [DAT](INFO): DAT read: Rx Time:20:52:50.0210 

2025-06-25T20:52:49.060Z,1750884769.060 [DAT](INFO): Rx dataTimestamp_ set to:1750884769.060198
2025-06-25T20:52:49.062Z,1750884769.062 [DAT](INFO): DAT read: Bearing 256.1, -17.9 (Local)

2025-06-25T20:52:49.062Z,1750884769.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.1, -17.9 (Local)

2025-06-25T20:52:49.064Z,1750884769.064 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-25T20:52:49.069Z,1750884769.069 [DAT](INFO): DAT read: 20:52:50.0210 LVL= 15024, 16737, 18802, 24931, AGC= 41, IDX= 500,-0.02,-2.178,-1.325,-0.537,-0.967, PHS=-1.123,-0.312, 0.427, RAW= 241.6,  14.9, CAL= 253.9,  17.9, ROT= 256.1, -17.9

2025-06-25T20:52:49.070Z,1750884769.070 [DAT](INFO): got valid direction response:
 20:52:50.0210 LVL= 15024, 16737, 18802, 24931, AGC= 41, IDX= 500,-0.02,-2.178,-1.325,-0.537,-0.967, PHS=-1.123,-0.312, 0.427, RAW= 241.6,  14.9, CAL= 253.9,  17.9, ROT= 256.1, -17.9

2025-06-25T20:52:49.071Z,1750884769.071 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:49.100Z,1750884769.100 [DAT](INFO): direction in FSK: [-0.228599,-0.923728,0.307357]
2025-06-25T20:52:49.101Z,1750884769.101 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:49.111Z,1750884769.111 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:49.111Z,1750884769.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:49.308Z,1750884769.308 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:49.309Z,1750884769.309 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:49.309Z,1750884769.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:49.562Z,1750884769.562 [DAT](INFO): DAT read: Rx Time:20:52:50.5211 

2025-06-25T20:52:49.562Z,1750884769.562 [DAT](INFO): Rx dataTimestamp_ set to:1750884769.561700
2025-06-25T20:52:49.563Z,1750884769.563 [DAT](INFO): DAT read: Bearing 261.9, -18.0 (Local)

2025-06-25T20:52:49.564Z,1750884769.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.9, -18.0 (Local)

2025-06-25T20:52:49.566Z,1750884769.566 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-25T20:52:49.571Z,1750884769.571 [DAT](INFO): DAT read: 20:52:50.5211 LVL= 13504, 16289, 16450, 21331, AGC= 40, IDX= 501, 0.00,-0.337, 0.416, 1.349, 0.870, PHS=-1.119,-0.407, 0.476, RAW= 236.5,  15.0, CAL= 248.1,  18.0, ROT= 261.9, -18.0

2025-06-25T20:52:49.572Z,1750884769.572 [DAT](INFO): got valid direction response:
 20:52:50.5211 LVL= 13504, 16289, 16450, 21331, AGC= 40, IDX= 501, 0.00,-0.337, 0.416, 1.349, 0.870, PHS=-1.119,-0.407, 0.476, RAW= 236.5,  15.0, CAL= 248.1,  18.0, ROT= 261.9, -18.0

2025-06-25T20:52:49.572Z,1750884769.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:49.573Z,1750884769.573 [DAT](INFO): direction in FSK: [-0.134005,-0.941568,0.309017]
2025-06-25T20:52:49.573Z,1750884769.573 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:49.581Z,1750884769.581 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:49.582Z,1750884769.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:49.812Z,1750884769.812 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:49.813Z,1750884769.813 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:49.813Z,1750884769.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:50.065Z,1750884770.065 [DAT](INFO): DAT read: Rx Time:20:52:51.0208 

2025-06-25T20:52:50.066Z,1750884770.066 [DAT](INFO): Rx dataTimestamp_ set to:1750884770.065587
2025-06-25T20:52:50.067Z,1750884770.067 [DAT](INFO): DAT read: Bearing 269.9, -20.4 (Local)

2025-06-25T20:52:50.067Z,1750884770.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.9, -20.4 (Local)

2025-06-25T20:52:50.070Z,1750884770.070 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:50.074Z,1750884770.074 [DAT](INFO): DAT read: 20:52:51.0208 LVL= 13472, 16433, 15682, 21203, AGC= 40, IDX= 500, 043,-0.181, 0.948, 0.440, PHS=-1.096,-0.574, 0.504, RAW= 228.6,  16.3, CAL= 240.1,  20.4, ROT= 269.9, -20.4

2025-06-25T20:52:50.075Z,1750884770.075 [DAT](INFO): unknown deviceResponse_: 20:52:51.0208 LVL= 13472, 16433, 15682, 21203, AGC= 40, IDX= 500, 043,-0.181, 0.948, 0.440, PHS=-1.096,-0.574, 0.504, RAW= 228.6,  16.3, CAL= 240.1,  20.4, ROT= 269.9, -20.4

2025-06-25T20:52:50.075Z,1750884770.075 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:50.076Z,1750884770.076 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:50.076Z,1750884770.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:50.317Z,1750884770.317 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:50.317Z,1750884770.317 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:50.317Z,1750884770.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:50.569Z,1750884770.569 [DAT](INFO): DAT read: Rx Time:20:52:51.5208 

2025-06-25T20:52:50.570Z,1750884770.570 [DAT](INFO): Rx dataTimestamp_ set to:1750884770.569571
2025-06-25T20:52:50.571Z,1750884770.571 [DAT](INFO): DAT read: Bearing 273.6, -20.3 (Local)

2025-06-25T20:52:50.571Z,1750884770.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.6, -20.3 (Local)

2025-06-25T20:52:50.574Z,1750884770.574 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-25T20:52:50.578Z,1750884770.578 [DAT](INFO): DAT read: 20:52:51.5208 LVL= 13552, 15953, 14786, 20371, AGC= 40, IDX= 501, 0.04, 1.025, 1.497, 2.739, 2.204, PHS=-1.091,-0.660, 0.532, RAW= 224.9,  16.5, CAL= 236.4,  20.3, ROT= 273.6, -20.3

2025-06-25T20:52:50.579Z,1750884770.579 [DAT](INFO): got valid direction response:
 20:52:51.5208 LVL= 13552, 15953, 14786, 20371, AGC= 40, IDX= 501, 0.04, 1.025, 1.497, 2.739, 2.204, PHS=-1.091,-0.660, 0.532, RAW= 224.9,  16.5, CAL= 236.4,  20.3, ROT= 273.6, -20.3

2025-06-25T20:52:50.580Z,1750884770.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:50.581Z,1750884770.581 [DAT](INFO): direction in FSK: [0.058891,-0.936038,0.346936]
2025-06-25T20:52:50.581Z,1750884770.581 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:50.585Z,1750884770.585 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:50.585Z,1750884770.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:50.823Z,1750884770.823 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:50.825Z,1750884770.825 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:50.826Z,1750884770.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:51.073Z,1750884771.073 [DAT](INFO): DAT read: Rx Time:20:52:52.0208 

2025-06-25T20:52:51.074Z,1750884771.074 [DAT](INFO): Rx dataTimestamp_ set to:1750884771.073647
2025-06-25T20:52:51.075Z,1750884771.075 [DAT](INFO): DAT read: Bearing 274.4, -19.8 (Local)

2025-06-25T20:52:51.076Z,1750884771.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.4, -19.8 (Local)

2025-06-25T20:52:51.078Z,1750884771.078 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:51.083Z,1750884771.083 [DAT](INFO): DAT read: 20:52:52.0208 LVL= 12464, 16945, 12930, 18003, AGC= 39, IDX= 500, 0.07,-0.362, 0.085, 1.324, 0.786, PHS=-1.060,-0.654, 0.535, RAW= 224.1,  16.2, CAL= 235.6,  19.8, ROT= 274.4, -19.8

2025-06-25T20:52:51.084Z,1750884771.084 [DAT](INFO): got valid direction response:
 20:52:52.0208 LVL= 12464, 16945, 12930, 18003, AGC= 39, IDX= 500, 0.07,-0.362, 0.085, 1.324, 0.786, PHS=-1.060,-0.654, 0.535, RAW= 224.1,  16.2, CAL= 235.6,  19.8, ROT= 274.4, -19.8

2025-06-25T20:52:51.085Z,1750884771.085 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:51.086Z,1750884771.086 [DAT](INFO): direction in FSK: [0.072183,-0.938108,0.338738]
2025-06-25T20:52:51.086Z,1750884771.086 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:51.102Z,1750884771.102 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:51.102Z,1750884771.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:51.324Z,1750884771.324 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:51.325Z,1750884771.325 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:51.325Z,1750884771.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:51.578Z,1750884771.578 [DAT](INFO): DAT read: Rx Time:20:52:52.5208 

2025-06-25T20:52:51.578Z,1750884771.578 [DAT](INFO): Rx dataTimestamp_ set to:1750884771.577764
2025-06-25T20:52:51.579Z,1750884771.579 [DAT](INFO): DAT read: Bearing 278.1, -22.1 (Local)

2025-06-25T20:52:51.580Z,1750884771.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.1, -22.1 (Local)

2025-06-25T20:52:51.582Z,1750884771.582 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:51.587Z,1750884771.587 [DAT](INFO): DAT read: 20:52:52.5208 LVL= 14032, 16977, 13762, 19235, AGC= 40, IDX= 500, 0.07, 0.321, 0.674, 2.000, 1.484, PHS=-1.075,-0.763, 0.513, RAW= 220.7,  17.8, CAL= 231.9,  22.1, ROT= 278.1, -22.1

2025-06-25T20:52:51.588Z,1750884771.588 [DAT](INFO): got valid direction response:
 20:52:52.5208 LVL= 14032, 16977, 13762, 19235, AGC= 40, IDX= 500, 0.07, 0.321, 0.674, 2.000, 1.484, PHS=-1.075,-0.763, 0.513, RAW= 220.7,  17.8, CAL= 231.9,  22.1, ROT= 278.1, -22.1

2025-06-25T20:52:51.589Z,1750884771.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:51.590Z,1750884771.590 [DAT](INFO): direction in FSK: [0.130549,-0.917285,0.376224]
2025-06-25T20:52:51.590Z,1750884771.590 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:51.593Z,1750884771.593 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:51.594Z,1750884771.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:51.828Z,1750884771.828 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:51.829Z,1750884771.829 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:51.829Z,1750884771.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:52.081Z,1750884772.081 [DAT](INFO): DAT read: Rx Time:20:52:53.0207 

2025-06-25T20:52:52.082Z,1750884772.082 [DAT](INFO): Rx dataTimestamp_ set to:1750884772.081605
2025-06-25T20:52:52.083Z,1750884772.083 [DAT](INFO): DAT read: Bearing 285.8, -23.1 (Local)

2025-06-25T20:52:52.084Z,1750884772.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.8, -23.1 (Local)

2025-06-25T20:52:52.086Z,1750884772.086 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:52.091Z,1750884772.091 [DAT](INFO): DAT read: 20:52:53.0207 LVL= 11344, 15569, 10610, 15379, AGC= 38, IDX= 499, 0.10,-0.361,-0.133, 1.332, 0.801, PHS=-1.074,-0.887, 0.528, RAW= 216.1,  18.5, CAL= 224.2,  23.1, ROT= 285.8, -23.1

2025-06-25T20:52:52.092Z,1750884772.092 [DAT](INFO): got valid direction response:
 20:52:53.0207 LVL= 11344, 15569, 10610, 15379, AGC= 38, IDX= 499, 0.10,-0.361,-0.133, 1.332, 0.801, PHS=-1.074,-0.887, 0.528, RAW= 216.1,  18.5, CAL= 224.2,  23.1, ROT= 285.8, -23.1

2025-06-25T20:52:52.092Z,1750884772.092 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:52.093Z,1750884772.093 [DAT](INFO): direction in FSK: [0.250449,-0.885069,0.392337]
2025-06-25T20:52:52.093Z,1750884772.093 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:52.101Z,1750884772.101 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:52.101Z,1750884772.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:52.333Z,1750884772.333 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:52.333Z,1750884772.333 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:52.333Z,1750884772.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:52.585Z,1750884772.585 [DAT](INFO): DAT read: Rx Time:20:52:53.5208 

2025-06-25T20:52:52.586Z,1750884772.586 [DAT](INFO): Rx dataTimestamp_ set to:1750884772.585553
2025-06-25T20:52:52.587Z,1750884772.587 [DAT](INFO): DAT read: Bearing 292.1, -24.2 (Local)

2025-06-25T20:52:52.587Z,1750884772.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1, -24.2 (Local)

2025-06-25T20:52:52.590Z,1750884772.590 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:52.594Z,1750884772.594 [DAT](INFO): DAT read: 20:52:53.5208 LVL= 12784,  8433,  9186, 16755, AGC= 42, IDX=   4, 0.12, 1.422, 1.557, 3.126, 2.593, PHS=-1.082,-0.989, 0.530, RAW= 213.0,  19.2, CAL= 217.9,  24.2, ROT= 292.1, -24.2

2025-06-25T20:52:52.595Z,1750884772.595 [DAT](INFO): got valid direction response:
 20:52:53.5208 LVL= 12784,  8433,  9186, 16755, AGC= 42, IDX=   4, 0.12, 1.422, 1.557, 3.126, 2.593, PHS=-1.082,-0.989, 0.530, RAW= 213.0,  19.2, CAL= 217.9,  24.2, ROT= 292.1, -24.2

2025-06-25T20:52:52.596Z,1750884772.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:52.597Z,1750884772.597 [DAT](INFO): direction in FSK: [0.343162,-0.845105,0.409923]
2025-06-25T20:52:52.597Z,1750884772.597 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:52.601Z,1750884772.601 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:52.601Z,1750884772.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:52.837Z,1750884772.837 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:52.837Z,1750884772.837 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:52.837Z,1750884772.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:53.090Z,1750884773.090 [DAT](INFO): DAT read: Rx Time:20:52:54.0207 

2025-06-25T20:52:53.090Z,1750884773.090 [DAT](INFO): Rx dataTimestamp_ set to:1750884773.089692
2025-06-25T20:52:53.091Z,1750884773.091 [DAT](INFO): DAT read: Bearing 290.3, -24.0 (Local)

2025-06-25T20:52:53.092Z,1750884773.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.3, -24.0 (Local)

2025-06-25T20:52:53.094Z,1750884773.094 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:53.099Z,1750884773.099 [DAT](INFO): DAT read: 20:52:54.0207 LVL= 11904, 15169, 10482, 15235, AGC= 38, IDX= 499, 0.14, 0.109, 0.271, 1.797, 1.269, PHS=-1.072,-0.952, 0.525, RAW= 213.9,  19.0, CAL= 219.7,  24.0, ROT= 290.3, -24.0

2025-06-25T20:52:53.100Z,1750884773.100 [DAT](INFO): got valid direction response:
 20:52:54.0207 LVL= 11904, 15169, 10482, 15235, AGC= 38, IDX= 499, 0.14, 0.109, 0.271, 1.797, 1.269, PHS=-1.072,-0.952, 0.525, RAW= 213.9,  19.0, CAL= 219.7,  24.0, ROT= 290.3, -24.0

2025-06-25T20:52:53.100Z,1750884773.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:53.101Z,1750884773.101 [DAT](INFO): direction in FSK: [0.316941,-0.856804,0.406737]
2025-06-25T20:52:53.102Z,1750884773.102 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:53.105Z,1750884773.105 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:53.105Z,1750884773.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:53.341Z,1750884773.341 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:53.341Z,1750884773.341 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:53.342Z,1750884773.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:53.593Z,1750884773.593 [DAT](INFO): DAT read: Rx Time:20:52:54.5208 

2025-06-25T20:52:53.594Z,1750884773.594 [DAT](INFO): Rx dataTimestamp_ set to:1750884773.593592
2025-06-25T20:52:53.595Z,1750884773.595 [DAT](INFO): DAT read: Bearing 295.7, -25.5 (Local)

2025-06-25T20:52:53.595Z,1750884773.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.7, -25.5 (Local)

2025-06-25T20:52:53.598Z,1750884773.598 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:53.603Z,1750884773.603 [DAT](INFO): DAT read: 20:52:54.5208 LVL= 12912,  8305,  9010, 17059, AGC= 42, IDX=   4, 0.16, 1.912, 1.999,-2.684, 3.084, PHS=-1.084,-1.038, 0.512, RAW= 211.5,  19.9, CAL= 214.3,  25.5, ROT= 295.7, -25.5

2025-06-25T20:52:53.604Z,1750884773.604 [DAT](INFO): got valid direction response:
 20:52:54.5208 LVL= 12912,  8305,  9010, 17059, AGC= 42, IDX=   4, 0.16, 1.912, 1.999,-2.684, 3.084, PHS=-1.084,-1.038, 0.512, RAW= 211.5,  19.9, CAL= 214.3,  25.5, ROT= 295.7, -25.5

2025-06-25T20:52:53.604Z,1750884773.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:53.605Z,1750884773.605 [DAT](INFO): direction in FSK: [0.391414,-0.813299,0.430511]
2025-06-25T20:52:53.605Z,1750884773.605 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:53.613Z,1750884773.613 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:53.613Z,1750884773.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:53.844Z,1750884773.844 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:53.845Z,1750884773.845 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:53.845Z,1750884773.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:54.097Z,1750884774.097 [DAT](INFO): DAT read: Rx Time:20:52:55.0207 

2025-06-25T20:52:54.098Z,1750884774.098 [DAT](INFO): Rx dataTimestamp_ set to:1750884774.097516
2025-06-25T20:52:54.099Z,1750884774.099 [DAT](INFO): DAT read: Bearing 293.2, -25.1 (Local)

2025-06-25T20:52:54.099Z,1750884774.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.2, -25.1 (Local)

2025-06-25T20:52:54.102Z,1750884774.102 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:54.106Z,1750884774.106 [DAT](INFO): DAT read: 20:52:55.0207 LVL= 11808, 14833, 10418, 15427, AGC= 38, IDX= 499, 0.19, 0.385, 0.508, 2.060, 1.548, PHS=-1.075,-0.994, 0.509, RAW= 212.6,  19.6, CAL= 216.8,  25.1, ROT= 293.2, -25.1

2025-06-25T20:52:54.107Z,1750884774.107 [DAT](INFO): got valid direction response:
 20:52:55.0207 LVL= 11808, 14833, 10418, 15427, AGC= 38, IDX= 499, 0.19, 0.385, 0.508, 2.060, 1.548, PHS=-1.075,-0.994, 0.509, RAW= 212.6,  19.6, CAL= 216.8,  25.1, ROT= 293.2, -25.1

2025-06-25T20:52:54.108Z,1750884774.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:54.109Z,1750884774.109 [DAT](INFO): direction in FSK: [0.356742,-0.832340,0.424199]
2025-06-25T20:52:54.109Z,1750884774.109 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:54.112Z,1750884774.112 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:54.113Z,1750884774.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:54.349Z,1750884774.349 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:54.349Z,1750884774.349 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:54.349Z,1750884774.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:54.601Z,1750884774.601 [DAT](INFO): DAT read: Rx Time:20:52:55.5208 

2025-06-25T20:52:54.601Z,1750884774.601 [DAT](INFO): Rx dataTimestamp_ set to:1750884774.601194
2025-06-25T20:52:54.603Z,1750884774.603 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:54.603Z,1750884774.603 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:54.604Z,1750884774.604 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:54.604Z,1750884774.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:54.853Z,1750884774.853 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:54.853Z,1750884774.853 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:54.854Z,1750884774.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:55.105Z,1750884775.105 [DAT](INFO): DAT read: Rx Time:20:52:56.0207 

2025-06-25T20:52:55.105Z,1750884775.105 [DAT](INFO): Rx dataTimestamp_ set to:1750884775.105123
2025-06-25T20:52:55.107Z,1750884775.107 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:55.107Z,1750884775.107 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:55.108Z,1750884775.108 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:55.108Z,1750884775.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:55.356Z,1750884775.356 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:55.357Z,1750884775.357 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:55.357Z,1750884775.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:55.609Z,1750884775.609 [DAT](INFO): DAT read: Rx Time:20:52:56.5208 

2025-06-25T20:52:55.610Z,1750884775.610 [DAT](INFO): Rx dataTimestamp_ set to:1750884775.609527
2025-06-25T20:52:55.611Z,1750884775.611 [DAT](INFO): DAT read: Bearing 202.3, -13.0 (Local)

2025-06-25T20:52:55.611Z,1750884775.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.3, -13.0 (Local)

2025-06-25T20:52:55.614Z,1750884775.614 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:55.618Z,1750884775.618 [DAT](INFO): DAT read: 20:52:56.5208 LVL= 13776, 15265, 12130, 17379, AGC= 39, IDX= 515, 0.49,-2.018, 0.165,-0.989,-0.650, PHS=-1.280, 0.862,-0.341, RAW= 304.1,   8.2, CAL= 307.7,  13.0, ROT= 202.3, -13.0

2025-06-25T20:52:55.619Z,1750884775.619 [DAT](INFO): got valid direction response:
 20:52:56.5208 LVL= 13776, 15265, 12130, 17379, AGC= 39, IDX= 515, 0.49,-2.018, 0.165,-0.989,-0.650, PHS=-1.280, 0.862,-0.341, RAW= 304.1,   8.2, CAL= 307.7,  13.0, ROT= 202.3, -13.0

2025-06-25T20:52:55.620Z,1750884775.620 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:55.621Z,1750884775.621 [DAT](INFO): direction in FSK: [-0.901497,-0.369731,0.224951]
2025-06-25T20:52:55.621Z,1750884775.621 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:55.625Z,1750884775.625 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:55.625Z,1750884775.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:55.861Z,1750884775.861 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:55.861Z,1750884775.861 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:55.861Z,1750884775.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:56.113Z,1750884776.113 [DAT](INFO): DAT read: Rx Time:20:52:57.0207 

2025-06-25T20:52:56.114Z,1750884776.114 [DAT](INFO): Rx dataTimestamp_ set to:1750884776.113302
2025-06-25T20:52:56.115Z,1750884776.115 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:56.115Z,1750884776.115 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:52:56.116Z,1750884776.116 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:56.116Z,1750884776.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:56.364Z,1750884776.364 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:56.365Z,1750884776.365 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:56.365Z,1750884776.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:56.617Z,1750884776.617 [DAT](INFO): DAT read: Rx Time:20:52:57.5208 

2025-06-25T20:52:56.618Z,1750884776.618 [DAT](INFO): Rx dataTimestamp_ set to:1750884776.617558
2025-06-25T20:52:56.619Z,1750884776.619 [DAT](INFO): DAT read: Bearing 198.6,  -5.8 (Local)

2025-06-25T20:52:56.619Z,1750884776.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6,  -5.8 (Local)

2025-06-25T20:52:56.622Z,1750884776.622 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:56.627Z,1750884776.627 [DAT](INFO): DAT read: 20:52:57.5208 LVL= 13296, 15857, 12514, 18067, AGC= 39, IDX= 516,-0.42,-2.944,-0.536,-1.969,-1.643, PHS=-1.213, 1.155,-0.328, RAW= 308.3,   3.8, CAL= 311.4,   5.8, ROT= 198.6,  -5.8

2025-06-25T20:52:56.629Z,1750884776.629 [DAT](INFO): got valid direction response:
 20:52:57.5208 LVL= 13296, 15857, 12514, 18067, AGC= 39, IDX= 516,-0.42,-2.944,-0.536,-1.969,-1.643, PHS=-1.213, 1.155,-0.328, RAW= 308.3,   3.8, CAL= 311.4,   5.8, ROT= 198.6,  -5.8

2025-06-25T20:52:56.630Z,1750884776.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:56.631Z,1750884776.631 [DAT](INFO): direction in FSK: [-0.942916,-0.317327,0.101056]
2025-06-25T20:52:56.631Z,1750884776.631 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:56.638Z,1750884776.638 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:56.638Z,1750884776.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:56.869Z,1750884776.869 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:56.869Z,1750884776.869 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:56.869Z,1750884776.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:57.121Z,1750884777.121 [DAT](INFO): DAT read: Rx Time:20:52:58.0207 

2025-06-25T20:52:57.122Z,1750884777.122 [DAT](INFO): Rx dataTimestamp_ set to:1750884777.121550
2025-06-25T20:52:57.123Z,1750884777.123 [DAT](INFO): DAT read: Bearing 195.4, -11.1 (Local)

2025-06-25T20:52:57.123Z,1750884777.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.4, -11.1 (Local)

2025-06-25T20:52:57.126Z,1750884777.126 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:57.134Z,1750884777.134 [DAT](INFO): DAT read: 20:52:58.0207 LVL= 14752, 16641, 14386, 20531, AGC= 40, IDX= 515,-0.37, 2.170,-1.720, 3.027,-2.735, PHS=-1.290, 1.062,-0.523, RAW= 311.4,   7.3, CAL= 314.6,  11.1, ROT= 195.4, -11.1

2025-06-25T20:52:57.140Z,1750884777.140 [DAT](INFO): got valid direction response:
 20:52:58.0207 LVL= 14752, 16641, 14386, 20531, AGC= 40, IDX= 515,-0.37, 2.170,-1.720, 3.027,-2.735, PHS=-1.290, 1.062,-0.523, RAW= 311.4,   7.3, CAL= 314.6,  11.1, ROT= 195.4, -11.1

2025-06-25T20:52:57.141Z,1750884777.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:57.142Z,1750884777.142 [DAT](INFO): direction in FSK: [-0.946060,-0.260588,0.192522]
2025-06-25T20:52:57.142Z,1750884777.142 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:57.182Z,1750884777.182 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:57.183Z,1750884777.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:57.373Z,1750884777.373 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:57.373Z,1750884777.373 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:57.373Z,1750884777.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:57.626Z,1750884777.626 [DAT](INFO): DAT read: Rx Time:20:52:58.5208 

2025-06-25T20:52:57.627Z,1750884777.627 [DAT](INFO): Rx dataTimestamp_ set to:1750884777.626563
2025-06-25T20:52:57.629Z,1750884777.629 [DAT](INFO): DAT read: Bearing 201.3,  -2.6 (Local)

2025-06-25T20:52:57.629Z,1750884777.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.3,  -2.6 (Local)

2025-06-25T20:52:57.633Z,1750884777.633 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-25T20:52:57.639Z,1750884777.639 [DAT](INFO): DAT read: 20:52:58.5208 LVL= 14960, 16369, 14706, 20755, AGC= 40, IDX= 516,-0.33,-2.693,-0.254,-1.610,-1.415, PHS=-1.191, 1.208,-0.198, RAW= 305.7,   1.8, CAL= 308.7,   2.6, ROT= 201.3,  -2.6

2025-06-25T20:52:57.646Z,1750884777.646 [DAT](INFO): got valid direction response:
 20:52:58.5208 LVL= 14960, 16369, 14706, 20755, AGC= 40, IDX= 516,-0.33,-2.693,-0.254,-1.610,-1.415, PHS=-1.191, 1.208,-0.198, RAW= 305.7,   1.8, CAL= 308.7,   2.6, ROT= 201.3,  -2.6

2025-06-25T20:52:57.646Z,1750884777.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:57.652Z,1750884777.652 [DAT](INFO): direction in FSK: [-0.930732,-0.362877,0.045363]
2025-06-25T20:52:57.652Z,1750884777.652 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:57.662Z,1750884777.662 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:57.662Z,1750884777.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:57.876Z,1750884777.876 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:57.877Z,1750884777.877 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:57.877Z,1750884777.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:58.130Z,1750884778.130 [DAT](INFO): DAT read: Rx Time:20:52:59.0207 

2025-06-25T20:52:58.131Z,1750884778.131 [DAT](INFO): Rx dataTimestamp_ set to:1750884778.130508
2025-06-25T20:52:58.132Z,1750884778.132 [DAT](INFO): DAT read: Bearing 200.9, -13.5 (Local)

2025-06-25T20:52:58.133Z,1750884778.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.9, -13.5 (Local)

2025-06-25T20:52:58.135Z,1750884778.135 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:58.149Z,1750884778.149 [DAT](INFO): DAT read: 20:52:59.0207 LVL= 14624, 15889, 14706, 20851, AGC= 40, IDX= 515,-0.27, 2.446,-1.460,-2.776,-2.363, PHS=-1.387, 0.949,-0.416, RAW= 305.6,   8.4, CAL= 309.1,  13.5, ROT= 200.9, -13.5

2025-06-25T20:52:58.151Z,1750884778.151 [DAT](INFO): got valid direction response:
 20:52:59.0207 LVL= 14624, 15889, 14706, 20851, AGC= 40, IDX= 515,-0.27, 2.446,-1.460,-2.776,-2.363, PHS=-1.387, 0.949,-0.416, RAW= 305.6,   8.4, CAL= 309.1,  13.5, ROT= 200.9, -13.5

2025-06-25T20:52:58.151Z,1750884778.151 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:58.185Z,1750884778.185 [DAT](INFO): direction in FSK: [-0.908392,-0.346881,0.233445]
2025-06-25T20:52:58.185Z,1750884778.185 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:58.194Z,1750884778.194 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:58.194Z,1750884778.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:58.381Z,1750884778.381 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:58.381Z,1750884778.381 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:58.381Z,1750884778.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:58.634Z,1750884778.634 [DAT](INFO): DAT read: Rx Time:20:52:59.5207 

2025-06-25T20:52:58.635Z,1750884778.635 [DAT](INFO): Rx dataTimestamp_ set to:1750884778.634227
2025-06-25T20:52:58.637Z,1750884778.637 [DAT](INFO): DAT read: Bearing 197.0,  -9.9 (Local)

2025-06-25T20:52:58.637Z,1750884778.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0,  -9.9 (Local)

2025-06-25T20:52:58.640Z,1750884778.640 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-25T20:52:58.646Z,1750884778.646 [DAT](INFO): DAT read: 20:52:59.5207 LVL= 14448, 15601, 15554, 20979, AGC= 40, IDX= 515,-0.19, 2.264,-1.654,-3.113,-2.669, PHS=-1.262, 1.062,-0.447, RAW= 309.8,   6.4, CAL= 313.0,   9.9, ROT= 197.0,  -9.9

2025-06-25T20:52:58.648Z,1750884778.648 [DAT](INFO): got valid direction response:
 20:52:59.5207 LVL= 14448, 15601, 15554, 20979, AGC= 40, IDX= 515,-0.19, 2.264,-1.654,-3.113,-2.669, PHS=-1.262, 1.062,-0.447, RAW= 309.8,   6.4, CAL= 313.0,   9.9, ROT= 197.0,  -9.9

2025-06-25T20:52:58.649Z,1750884778.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:52:58.650Z,1750884778.650 [DAT](INFO): direction in FSK: [-0.942065,-0.288018,0.171929]
2025-06-25T20:52:58.651Z,1750884778.651 [DAT](INFO): publishing direction and range info
2025-06-25T20:52:58.656Z,1750884778.656 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:58.656Z,1750884778.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:58.885Z,1750884778.885 [DAT](INFO): Reached modem response timeout
2025-06-25T20:52:58.885Z,1750884778.885 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:52:58.885Z,1750884778.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:52:59.137Z,1750884779.137 [DAT](INFO): DAT read: user:754>

2025-06-25T20:52:59.138Z,1750884779.138 [DAT](INFO): DAT read: Tx time:20:53:00.4412

2025-06-25T20:52:59.138Z,1750884779.138 [DAT](INFO): Ping request sent.
2025-06-25T20:52:59.138Z,1750884779.138 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:52:59.138Z,1750884779.138 [DAT](INFO): publishing transmit ping time
2025-06-25T20:52:59.139Z,1750884779.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-06-25T20:52:59.389Z,1750884779.389 [DAT](INFO): DAT read: TxSync time:20:53:00.4404

2025-06-25T20:52:59.390Z,1750884779.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252260
2025-06-25T20:52:59.641Z,1750884779.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503348
2025-06-25T20:52:59.893Z,1750884779.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889
2025-06-25T20:53:00.145Z,1750884780.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006775
2025-06-25T20:53:00.401Z,1750884780.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262869
2025-06-25T20:53:00.657Z,1750884780.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518877
2025-06-25T20:53:00.910Z,1750884780.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771689
2025-06-25T20:53:01.161Z,1750884781.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022796
2025-06-25T20:53:01.413Z,1750884781.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274894
2025-06-25T20:53:01.665Z,1750884781.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527225
2025-06-25T20:53:01.917Z,1750884781.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779087
2025-06-25T20:53:02.170Z,1750884782.170 [DAT](INFO): DAT read: Rx Time:20:53:02.8469

2025-06-25T20:53:02.170Z,1750884782.170 [DAT](INFO): Rx dataTimestamp_ set to:1750884782.170074
2025-06-25T20:53:02.171Z,1750884782.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032965
2025-06-25T20:53:02.421Z,1750884782.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282910
2025-06-25T20:53:02.682Z,1750884782.682 [DAT](INFO): DAT read: 20:53:02.8470 LVL= 13984, 15841, 15938, 21315, AGC= 41, IDX= 236,-0.06,-0.437, 0.793, 1.090, 0.744, PHS=-1.093, 0.096, 0.343, RAW= 260.7,   9.9, CAL= 267.8,  13.5, ROT= 242.2, -13.5

2025-06-25T20:53:02.684Z,1750884782.684 [DAT](INFO): got valid direction response:
 20:53:02.8470 LVL= 13984, 15841, 15938, 21315, AGC= 41, IDX= 236,-0.06,-0.437, 0.793, 1.090, 0.744, PHS=-1.093, 0.096, 0.343, RAW= 260.7,   9.9, CAL= 267.8,  13.5, ROT= 242.2, -13.5

2025-06-25T20:53:02.686Z,1750884782.686 [DAT](INFO): DAT read: Bearing 242.2, -13.5 (Local)

2025-06-25T20:53:02.686Z,1750884782.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.2, -13.5 (Local)

2025-06-25T20:53:02.708Z,1750884782.708 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-25T20:53:02.709Z,1750884782.709 [DAT](INFO): DAT read: user:755>

2025-06-25T20:53:02.710Z,1750884782.710 [DAT](INFO): DAT read: Tx time:20:53:03.9413

2025-06-25T20:53:02.710Z,1750884782.710 [DAT](INFO): Ping request sent.
2025-06-25T20:53:02.710Z,1750884782.710 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:02.711Z,1750884782.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:53:02.720Z,1750884782.720 [DAT](INFO): direction in FSK: [-0.453501,-0.860140,0.233445]
2025-06-25T20:53:02.720Z,1750884782.720 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:02.720Z,1750884782.720 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:02.723Z,1750884782.723 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:02.731Z,1750884782.731 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:02.928Z,1750884782.928 [DAT](INFO): DAT read: TxSync time:20:53:03.9405

2025-06-25T20:53:03.211Z,1750884783.211 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062512541386,35.0,  +9.7,489.1,  0
2025-06-25T20:53:05.697Z,1750884785.697 [DAT](INFO): DAT read: Rx Time:20:53:06.3473

2025-06-25T20:53:05.698Z,1750884785.698 [DAT](INFO): Rx dataTimestamp_ set to:1750884785.697813
2025-06-25T20:53:06.209Z,1750884786.209 [DAT](INFO): DAT read: 20:53:06.3473 LVL= 13632, 16609, 16850, 22515, AGC= 40, IDX= 447, 0.19, 2.108, 2.983,-2.516,-2.951, PHS=-1.136,-0.303, 0.432, RAW= 242.1,  14.7, CAL= 254.4,  17.7, ROT= 255.6, -17.7

2025-06-25T20:53:06.210Z,1750884786.210 [DAT](INFO): got valid direction response:
 20:53:06.3473 LVL= 13632, 16609, 16850, 22515, AGC= 40, IDX= 447, 0.19, 2.108, 2.983,-2.516,-2.951, PHS=-1.136,-0.303, 0.432, RAW= 242.1,  14.7, CAL= 254.4,  17.7, ROT= 255.6, -17.7

2025-06-25T20:53:06.211Z,1750884786.211 [DAT](INFO): DAT read: Bearing 255.6, -17.7 (Local)

2025-06-25T20:53:06.220Z,1750884786.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.6, -17.7 (Local)

2025-06-25T20:53:06.222Z,1750884786.222 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m  (Round-trip  1.9 ms) speed  0.0 m/s

2025-06-25T20:53:06.223Z,1750884786.223 [DAT](INFO): DAT read: user:756>

2025-06-25T20:53:06.223Z,1750884786.223 [DAT](INFO): DAT read: Tx time:20:53:07.4413

2025-06-25T20:53:06.226Z,1750884786.226 [DAT](INFO): Ping request sent.
2025-06-25T20:53:06.226Z,1750884786.226 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:06.226Z,1750884786.226 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-25T20:53:06.227Z,1750884786.227 [DAT](INFO): direction in FSK: [-0.236917,-0.922732,0.304033]
2025-06-25T20:53:06.228Z,1750884786.228 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:06.228Z,1750884786.228 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:06.231Z,1750884786.231 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:06.231Z,1750884786.231 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:06.453Z,1750884786.453 [DAT](INFO): DAT read: TxSync time:20:53:07.4405

2025-06-25T20:53:09.225Z,1750884789.225 [DAT](INFO): DAT read: Rx Time:20:53:09.8465

2025-06-25T20:53:09.225Z,1750884789.225 [DAT](INFO): Rx dataTimestamp_ set to:1750884789.225030
2025-06-25T20:53:09.737Z,1750884789.737 [DAT](INFO): DAT read: 20:53:09.8465 LVL= 15296, 16353, 13458, 20051, AGC= 40, IDX= 443,-0.48,-0.169, 0.033, 1.407, 0.978, PHS=-1.059,-0.898, 0.426, RAW= 215.7,  21.0, CAL= 220.1,  27.8, ROT= 289.9, -27.8

2025-06-25T20:53:09.738Z,1750884789.739 [DAT](INFO): got valid direction response:
 20:53:09.8465 LVL= 15296, 16353, 13458, 20051, AGC= 40, IDX= 443,-0.48,-0.169, 0.033, 1.407, 0.978, PHS=-1.059,-0.898, 0.426, RAW= 215.7,  21.0, CAL= 220.1,  27.8, ROT= 289.9, -27.8

2025-06-25T20:53:09.740Z,1750884789.740 [DAT](INFO): DAT read: Bearing 289.9, -27.8 (Local)

2025-06-25T20:53:09.741Z,1750884789.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.9, -27.8 (Local)

2025-06-25T20:53:09.743Z,1750884789.743 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:53:09.744Z,1750884789.744 [DAT](INFO): DAT read: user:757>

2025-06-25T20:53:09.745Z,1750884789.745 [DAT](INFO): DAT read: Tx time:20:53:10.9413

2025-06-25T20:53:09.745Z,1750884789.745 [DAT](INFO): Ping request sent.
2025-06-25T20:53:09.745Z,1750884789.745 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:09.746Z,1750884789.746 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-25T20:53:09.747Z,1750884789.747 [DAT](INFO): direction in FSK: [0.301093,-0.831761,0.466387]
2025-06-25T20:53:09.768Z,1750884789.768 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:09.769Z,1750884789.769 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:09.773Z,1750884789.773 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:09.774Z,1750884789.774 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:09.983Z,1750884789.983 [DAT](INFO): DAT read: TxSync time:20:53:10.9405

2025-06-25T20:53:12.753Z,1750884792.753 [DAT](INFO): DAT read: Rx Time:20:53:13.3466

2025-06-25T20:53:12.753Z,1750884792.753 [DAT](INFO): Rx dataTimestamp_ set to:1750884792.753093
2025-06-25T20:53:13.267Z,1750884793.267 [DAT](INFO): DAT read: 20:53:13.3466 LVL= 15040, 17217, 18274, 24115, AGC= 41, IDX= 443, 0.42,-2.512,-1.807,-0.869,-1.318, PHS=-1.106,-0.442, 0.446, RAW= 235.2,  16.1, CAL= 247.4,  19.4, ROT= 262.6, -19.4

2025-06-25T20:53:13.268Z,1750884793.268 [DAT](INFO): got valid direction response:
 20:53:13.3466 LVL= 15040, 17217, 18274, 24115, AGC= 41, IDX= 443, 0.42,-2.512,-1.807,-0.869,-1.318, PHS=-1.106,-0.442, 0.446, RAW= 235.2,  16.1, CAL= 247.4,  19.4, ROT= 262.6, -19.4

2025-06-25T20:53:13.269Z,1750884793.269 [DAT](INFO): DAT read: Bearing 262.6, -19.4 (Local)

2025-06-25T20:53:13.270Z,1750884793.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.6, -19.4 (Local)

2025-06-25T20:53:13.271Z,1750884793.271 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:13.272Z,1750884793.272 [DAT](INFO): DAT read: user:758>

2025-06-25T20:53:13.273Z,1750884793.273 [DAT](INFO): DAT read: Tx time:20:53:14.4413

2025-06-25T20:53:13.273Z,1750884793.273 [DAT](INFO): Ping request sent.
2025-06-25T20:53:13.273Z,1750884793.273 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:13.274Z,1750884793.274 [DAT](INFO): DAT read: TxSync time:20:53:14.4406

2025-06-25T20:53:13.275Z,1750884793.275 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-25T20:53:13.276Z,1750884793.276 [DAT](INFO): direction in FSK: [-0.121483,-0.935367,0.332161]
2025-06-25T20:53:13.276Z,1750884793.276 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:13.276Z,1750884793.276 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:13.279Z,1750884793.279 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:13.280Z,1750884793.280 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:16.029Z,1750884796.029 [DAT](INFO): DAT read: Rx Time:20:53:16.8467

2025-06-25T20:53:16.029Z,1750884796.029 [DAT](INFO): Rx dataTimestamp_ set to:1750884796.029025
2025-06-25T20:53:16.795Z,1750884796.795 [DAT](INFO): DAT read: 20:53:16.8467 LVL= 13600, 16113, 16242, 21363, AGC= 40, IDX= 443, 0.11, 2.053, 2.706,-2.561,-3.070, PHS=-1.072,-0.460, 0.506, RAW= 232.6,  14.7, CAL= 243.7,  18.0, ROT= 266.3, -18.0

2025-06-25T20:53:16.796Z,1750884796.796 [DAT](INFO): got valid direction response:
 20:53:16.8467 LVL= 13600, 16113, 16242, 21363, AGC= 40, IDX= 443, 0.11, 2.053, 2.706,-2.561,-3.070, PHS=-1.072,-0.460, 0.506, RAW= 232.6,  14.7, CAL= 243.7,  18.0, ROT= 266.3, -18.0

2025-06-25T20:53:16.797Z,1750884796.797 [DAT](INFO): DAT read: Bearing 266.3, -18.0 (Local)

2025-06-25T20:53:16.798Z,1750884796.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.3, -18.0 (Local)

2025-06-25T20:53:16.799Z,1750884796.799 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:16.800Z,1750884796.800 [DAT](INFO): DAT read: user:759>

2025-06-25T20:53:16.801Z,1750884796.801 [DAT](INFO): DAT read: Tx time:20:53:17.9414

2025-06-25T20:53:16.801Z,1750884796.801 [DAT](INFO): Ping request sent.
2025-06-25T20:53:16.801Z,1750884796.801 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:16.802Z,1750884796.802 [DAT](INFO): DAT read: TxSync time:20:53:17.9406

2025-06-25T20:53:16.802Z,1750884796.802 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-25T20:53:16.803Z,1750884796.803 [DAT](INFO): direction in FSK: [-0.061374,-0.949074,0.309017]
2025-06-25T20:53:16.820Z,1750884796.820 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:16.820Z,1750884796.820 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:16.823Z,1750884796.823 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:16.823Z,1750884796.823 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:19.561Z,1750884799.561 [DAT](INFO): DAT read: Rx Time:20:53:20.3466

2025-06-25T20:53:19.561Z,1750884799.561 [DAT](INFO): Rx dataTimestamp_ set to:1750884799.561112
2025-06-25T20:53:20.081Z,1750884800.081 [DAT](INFO): DAT read: 20:53:20.3466 LVL= 13888, 17329, 17250, 22963, AGC= 40, IDX= 443,-0.20,-0.612, 0.433, 1.101, 0.649, PHS=-1.174,-0.169, 0.448, RAW= 247.8,  12.6, CAL= 259.0,  15.5, ROT= 251.0, -15.5

2025-06-25T20:53:20.082Z,1750884800.082 [DAT](INFO): got valid direction response:
 20:53:20.3466 LVL= 13888, 17329, 17250, 22963, AGC= 40, IDX= 443,-0.20,-0.612, 0.433, 1.101, 0.649, PHS=-1.174,-0.169, 0.448, RAW= 247.8,  12.6, CAL= 259.0,  15.5, ROT= 251.0, -15.5

2025-06-25T20:53:20.083Z,1750884800.083 [DAT](INFO): DAT read: Bearing 251.0, -15.5 (Local)

2025-06-25T20:53:20.101Z,1750884800.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.0, -15.5 (Local)

2025-06-25T20:53:20.102Z,1750884800.102 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:53:20.103Z,1750884800.103 [DAT](INFO): DAT read: user:760>

2025-06-25T20:53:20.105Z,1750884800.105 [DAT](INFO): DAT read: Tx time:20:53:21.4414

2025-06-25T20:53:20.105Z,1750884800.105 [DAT](INFO): Ping request sent.
2025-06-25T20:53:20.105Z,1750884800.105 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:20.106Z,1750884800.106 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-25T20:53:20.107Z,1750884800.107 [DAT](INFO): direction in FSK: [-0.313727,-0.911130,0.267238]
2025-06-25T20:53:20.107Z,1750884800.107 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:20.107Z,1750884800.107 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:20.134Z,1750884800.134 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:20.135Z,1750884800.135 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:20.317Z,1750884800.317 [DAT](INFO): DAT read: TxSync time:20:53:21.4406

2025-06-25T20:53:23.089Z,1750884803.089 [DAT](INFO): DAT read: Rx Time:20:53:23.8470

2025-06-25T20:53:23.090Z,1750884803.090 [DAT](INFO): Rx dataTimestamp_ set to:1750884803.089637
2025-06-25T20:53:23.599Z,1750884803.599 [DAT](INFO): DAT read: 20:53:23.8470 LVL= 15344, 17601, 18898, 25427, AGC= 41, IDX= 446, 0.22,-0.504, 0.362, 1.233, 0.850, PHS=-1.265,-0.440, 0.380, RAW= 240.1,  18.2, CAL= 253.3,  21.8, ROT= 256.7, -21.8

2025-06-25T20:53:23.600Z,1750884803.600 [DAT](INFO): got valid direction response:
 20:53:23.8470 LVL= 15344, 17601, 18898, 25427, AGC= 41, IDX= 446, 0.22,-0.504, 0.362, 1.233, 0.850, PHS=-1.265,-0.440, 0.380, RAW= 240.1,  18.2, CAL= 253.3,  21.8, ROT= 256.7, -21.8

2025-06-25T20:53:23.601Z,1750884803.601 [DAT](INFO): DAT read: Bearing 256.7, -21.8 (Local)

2025-06-25T20:53:23.601Z,1750884803.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.7, -21.8 (Local)

2025-06-25T20:53:23.603Z,1750884803.603 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-25T20:53:23.603Z,1750884803.603 [DAT](INFO): DAT read: user:761>

2025-06-25T20:53:23.604Z,1750884803.604 [DAT](INFO): DAT read: Tx time:20:53:24.9414

2025-06-25T20:53:23.605Z,1750884803.605 [DAT](INFO): Ping request sent.
2025-06-25T20:53:23.605Z,1750884803.605 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:23.605Z,1750884803.605 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-25T20:53:23.606Z,1750884803.606 [DAT](INFO): direction in FSK: [-0.213598,-0.903583,0.371368]
2025-06-25T20:53:23.606Z,1750884803.606 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:23.607Z,1750884803.607 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:23.622Z,1750884803.622 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:23.622Z,1750884803.622 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:23.845Z,1750884803.845 [DAT](INFO): DAT read: TxSync time:20:53:24.9406

2025-06-25T20:53:26.617Z,1750884806.617 [DAT](INFO): DAT read: Rx Time:20:53:27.3467

2025-06-25T20:53:26.617Z,1750884806.617 [DAT](INFO): Rx dataTimestamp_ set to:1750884806.617040
2025-06-25T20:53:27.127Z,1750884807.127 [DAT](INFO): DAT read: 20:53:27.3467 LVL= 13552, 15809, 16114, 21267, AGC= 40, IDX= 443, 0.05,-1.148,-0.398, 0.481, 0.019, PHS=-1.080,-0.371, 0.458, RAW= 237.4,  14.7, CAL= 249.0,  17.6, ROT= 261.0, -17.6

2025-06-25T20:53:27.128Z,1750884807.128 [DAT](INFO): got valid direction response:
 20:53:27.3467 LVL= 13552, 15809, 16114, 21267, AGC= 40, IDX= 443, 0.05,-1.148,-0.398, 0.481, 0.019, PHS=-1.080,-0.371, 0.458, RAW= 237.4,  14.7, CAL= 249.0,  17.6, ROT= 261.0, -17.6

2025-06-25T20:53:27.129Z,1750884807.129 [DAT](INFO): DAT read: Bearing 261.0, -17.6 (Local)

2025-06-25T20:53:27.129Z,1750884807.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.0, -17.6 (Local)

2025-06-25T20:53:27.131Z,1750884807.131 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:53:27.133Z,1750884807.133 [DAT](INFO): DAT read: user:762>

2025-06-25T20:53:27.138Z,1750884807.138 [DAT](INFO): DAT read: Tx time:20:53:28.4415

2025-06-25T20:53:27.139Z,1750884807.139 [DAT](INFO): Ping request sent.
2025-06-25T20:53:27.139Z,1750884807.139 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:27.139Z,1750884807.139 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-25T20:53:27.141Z,1750884807.141 [DAT](INFO): direction in FSK: [-0.149112,-0.941455,0.302370]
2025-06-25T20:53:27.141Z,1750884807.141 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:27.141Z,1750884807.141 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:27.144Z,1750884807.144 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:27.145Z,1750884807.145 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:27.373Z,1750884807.373 [DAT](INFO): DAT read: TxSync time:20:53:28.4407

2025-06-25T20:53:30.145Z,1750884810.145 [DAT](INFO): DAT read: Rx Time:20:53:30.8471

2025-06-25T20:53:30.145Z,1750884810.145 [DAT](INFO): Rx dataTimestamp_ set to:1750884810.145068
2025-06-25T20:53:30.657Z,1750884810.657 [DAT](INFO): DAT read: 20:53:30.8471 LVL= 13408, 16513, 16674, 21779, AGC= 40, IDX= 447,-0.30, 1.206, 2.178, 2.807, 2.397, PHS=-1.103,-0.172, 0.407, RAW= 247.7,  13.1, CAL= 259.2,  16.2, ROT= 250.8, -16.2

2025-06-25T20:53:30.659Z,1750884810.659 [DAT](INFO): got valid direction response:
 20:53:30.8471 LVL= 13408, 16513, 16674, 21779, AGC= 40, IDX= 447,-0.30, 1.206, 2.178, 2.807, 2.397, PHS=-1.103,-0.172, 0.407, RAW= 247.7,  13.1, CAL= 259.2,  16.2, ROT= 250.8, -16.2

2025-06-25T20:53:30.672Z,1750884810.672 [DAT](INFO): DAT read: Bearing 250.8, -16.2 (Local)

2025-06-25T20:53:30.672Z,1750884810.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.8, -16.2 (Local)

2025-06-25T20:53:30.674Z,1750884810.674 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-25T20:53:30.675Z,1750884810.675 [DAT](INFO): DAT read: user:763>

2025-06-25T20:53:30.675Z,1750884810.675 [DAT](INFO): DAT read: Tx time:20:53:31.9415

2025-06-25T20:53:30.677Z,1750884810.677 [DAT](INFO): Ping request sent.
2025-06-25T20:53:30.677Z,1750884810.677 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:30.678Z,1750884810.678 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-25T20:53:30.679Z,1750884810.679 [DAT](INFO): direction in FSK: [-0.315808,-0.906879,0.278991]
2025-06-25T20:53:30.679Z,1750884810.679 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:30.679Z,1750884810.679 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:30.682Z,1750884810.682 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:30.683Z,1750884810.683 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:30.901Z,1750884810.901 [DAT](INFO): DAT read: TxSync time:20:53:31.9407

2025-06-25T20:53:33.673Z,1750884813.673 [DAT](INFO): DAT read: Rx Time:20:53:34.3468

2025-06-25T20:53:33.673Z,1750884813.673 [DAT](INFO): Rx dataTimestamp_ set to:1750884813.673119
2025-06-25T20:53:34.183Z,1750884814.183 [DAT](INFO): DAT read: 20:53:34.3468 LVL= 14064, 16369, 15810, 21363, AGC= 40, IDX= 443, 0.12, 0.393, 0.888, 2.083, 1.610, PHS=-1.129,-0.676, 0.470, RAW= 226.0,  18.3, CAL= 237.2,  23.2, ROT= 272.8, -23.2

2025-06-25T20:53:34.184Z,1750884814.184 [DAT](INFO): got valid direction response:
 20:53:34.3468 LVL= 14064, 16369, 15810, 21363, AGC= 40, IDX= 443, 0.12, 0.393, 0.888, 2.083, 1.610, PHS=-1.129,-0.676, 0.470, RAW= 226.0,  18.3, CAL= 237.2,  23.2, ROT= 272.8, -23.2

2025-06-25T20:53:34.185Z,1750884814.185 [DAT](INFO): DAT read: Bearing 272.8, -23.2 (Local)

2025-06-25T20:53:34.185Z,1750884814.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.8, -23.2 (Local)

2025-06-25T20:53:34.187Z,1750884814.187 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:34.187Z,1750884814.187 [DAT](INFO): DAT read: user:764>

2025-06-25T20:53:34.188Z,1750884814.188 [DAT](INFO): DAT read: Tx time:20:53:35.4415

2025-06-25T20:53:34.189Z,1750884814.189 [DAT](INFO): Ping request sent.
2025-06-25T20:53:34.189Z,1750884814.189 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:34.189Z,1750884814.189 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-25T20:53:34.190Z,1750884814.190 [DAT](INFO): direction in FSK: [0.044899,-0.918038,0.393942]
2025-06-25T20:53:34.190Z,1750884814.190 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:34.191Z,1750884814.191 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:34.194Z,1750884814.194 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:34.194Z,1750884814.194 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:34.429Z,1750884814.429 [DAT](INFO): DAT read: TxSync time:20:53:35.4407

2025-06-25T20:53:37.201Z,1750884817.201 [DAT](INFO): DAT read: Rx Time:20:53:37.8468

2025-06-25T20:53:37.201Z,1750884817.201 [DAT](INFO): Rx dataTimestamp_ set to:1750884817.200917
2025-06-25T20:53:37.325Z,1750884817.325 [DockingStepper](INFO): Changing to mode: 4
2025-06-25T20:53:37.325Z,1750884817.325 [DockingStepper](INFO): Slide mode.
2025-06-25T20:53:37.389Z,1750884817.389 [DockingStepper](INFO): Commanding negative:34891
2025-06-25T20:53:37.711Z,1750884817.711 [DAT](INFO): DAT read: 20:53:37.8468 LVL= 12400, 16113, 10514, 17331, AGC= 39, IDX= 443,-0.19,-2.324,-1.887,-0.782,-1.253, PHS=-0.983,-0.587, 0.468, RAW= 225.3,  16.7, CAL= 236.8,  20.7, ROT= 273.2, -20.7

2025-06-25T20:53:37.714Z,1750884817.714 [DAT](INFO): got valid direction response:
 20:53:37.8468 LVL= 12400, 16113, 10514, 17331, AGC= 39, IDX= 443,-0.19,-2.324,-1.887,-0.782,-1.253, PHS=-0.983,-0.587, 0.468, RAW= 225.3,  16.7, CAL= 236.8,  20.7, ROT= 273.2, -20.7

2025-06-25T20:53:37.715Z,1750884817.715 [DAT](INFO): DAT read: Bearing 273.2, -20.7 (Local)

2025-06-25T20:53:37.715Z,1750884817.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.2, -20.7 (Local)

2025-06-25T20:53:37.717Z,1750884817.717 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:53:37.718Z,1750884817.718 [DAT](INFO): DAT read: user:765>

2025-06-25T20:53:37.718Z,1750884817.718 [DAT](INFO): DAT read: Tx time:20:53:38.9416

2025-06-25T20:53:37.719Z,1750884817.719 [DAT](INFO): Ping request sent.
2025-06-25T20:53:37.719Z,1750884817.719 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:37.719Z,1750884817.719 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-25T20:53:37.721Z,1750884817.721 [DAT](INFO): direction in FSK: [0.052218,-0.933985,0.353475]
2025-06-25T20:53:37.721Z,1750884817.721 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:37.721Z,1750884817.721 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:37.724Z,1750884817.724 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:37.725Z,1750884817.725 [DAT](INFO): publishing direction and range info
2025-06-25T20:53:37.957Z,1750884817.957 [DAT](INFO): DAT read: TxSync time:20:53:38.9408

2025-06-25T20:53:40.729Z,1750884820.729 [DAT](INFO): DAT read: Rx Time:20:53:41.3469

2025-06-25T20:53:40.729Z,1750884820.729 [DAT](INFO): Rx dataTimestamp_ set to:1750884820.729176
2025-06-25T20:53:41.234Z,1750884821.234 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:41.235Z,1750884821.235 [DAT](INFO): DAT read: user:766>

2025-06-25T20:53:41.235Z,1750884821.235 [DAT](INFO): DAT read: Tx time:20:53:42.4416

2025-06-25T20:53:41.236Z,1750884821.236 [DAT](INFO): Ping request sent.
2025-06-25T20:53:41.236Z,1750884821.236 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:41.236Z,1750884821.236 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-25T20:53:41.236Z,1750884821.236 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:41.237Z,1750884821.237 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:41.488Z,1750884821.488 [DAT](INFO): DAT read: TxSync time:20:53:42.4408

2025-06-25T20:53:44.005Z,1750884824.005 [DAT](INFO): DAT read: Rx Time:20:53:44.8469

2025-06-25T20:53:44.006Z,1750884824.006 [DAT](INFO): Rx dataTimestamp_ set to:1750884824.005587
2025-06-25T20:53:44.762Z,1750884824.762 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:44.763Z,1750884824.763 [DAT](INFO): DAT read: user:767>

2025-06-25T20:53:44.763Z,1750884824.763 [DAT](INFO): DAT read: Tx time:20:53:45.9416

2025-06-25T20:53:44.764Z,1750884824.764 [DAT](INFO): Ping request sent.
2025-06-25T20:53:44.764Z,1750884824.764 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:44.765Z,1750884824.765 [DAT](INFO): DAT read: TxSync time:20:53:45.9408

2025-06-25T20:53:44.765Z,1750884824.765 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-25T20:53:44.765Z,1750884824.765 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:44.766Z,1750884824.766 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:47.536Z,1750884827.536 [DAT](INFO): DAT read: Rx Time:20:53:48.3469

2025-06-25T20:53:47.537Z,1750884827.537 [DAT](INFO): Rx dataTimestamp_ set to:1750884827.536208
2025-06-25T20:53:48.038Z,1750884828.038 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:48.038Z,1750884828.038 [DAT](INFO): DAT read: user:768>

2025-06-25T20:53:48.039Z,1750884828.039 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-25T20:53:48.289Z,1750884828.289 [DAT](INFO): DAT read: Tx time:20:53:49.4416

2025-06-25T20:53:48.289Z,1750884828.289 [DAT](INFO): Ping request sent.
2025-06-25T20:53:48.289Z,1750884828.289 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:48.290Z,1750884828.290 [DAT](INFO): DAT read: TxSync time:20:53:49.4408

2025-06-25T20:53:48.290Z,1750884828.290 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:51.061Z,1750884831.061 [DAT](INFO): DAT read: Rx Time:20:53:51.8469

2025-06-25T20:53:51.061Z,1750884831.061 [DAT](INFO): Rx dataTimestamp_ set to:1750884831.061011
2025-06-25T20:53:51.566Z,1750884831.566 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:53:51.566Z,1750884831.566 [DAT](INFO): DAT read: user:769>

2025-06-25T20:53:51.567Z,1750884831.567 [DAT](INFO): DAT read: Tx time:20:53:52.9416

2025-06-25T20:53:51.567Z,1750884831.567 [DAT](INFO): Ping request sent.
2025-06-25T20:53:51.568Z,1750884831.568 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:51.568Z,1750884831.568 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-25T20:53:51.568Z,1750884831.568 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:51.569Z,1750884831.569 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:51.817Z,1750884831.817 [DAT](INFO): DAT read: TxSync time:20:53:52.9409

2025-06-25T20:53:54.589Z,1750884834.589 [DAT](INFO): DAT read: Rx Time:20:53:55.3469

2025-06-25T20:53:54.589Z,1750884834.589 [DAT](INFO): Rx dataTimestamp_ set to:1750884834.589115
2025-06-25T20:53:55.095Z,1750884835.095 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:53:55.096Z,1750884835.096 [DAT](INFO): DAT read: user:770>

2025-06-25T20:53:55.097Z,1750884835.097 [DAT](INFO): DAT read: Tx time:20:53:56.4416

2025-06-25T20:53:55.098Z,1750884835.098 [DAT](INFO): Ping request sent.
2025-06-25T20:53:55.098Z,1750884835.098 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:55.098Z,1750884835.098 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-25T20:53:55.098Z,1750884835.098 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:55.099Z,1750884835.099 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:55.345Z,1750884835.345 [DAT](INFO): DAT read: TxSync time:20:53:56.4409

2025-06-25T20:53:58.117Z,1750884838.117 [DAT](INFO): DAT read: Rx Time:20:53:58.8469

2025-06-25T20:53:58.117Z,1750884838.117 [DAT](INFO): Rx dataTimestamp_ set to:1750884838.117057
2025-06-25T20:53:58.622Z,1750884838.622 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:53:58.623Z,1750884838.623 [DAT](INFO): DAT read: user:771>

2025-06-25T20:53:58.624Z,1750884838.624 [DAT](INFO): DAT read: Tx time:20:53:59.9416

2025-06-25T20:53:58.624Z,1750884838.624 [DAT](INFO): Ping request sent.
2025-06-25T20:53:58.624Z,1750884838.624 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:53:58.625Z,1750884838.625 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-25T20:53:58.625Z,1750884838.625 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:58.626Z,1750884838.626 [DAT](INFO): publishing transmit ping time
2025-06-25T20:53:58.873Z,1750884838.873 [DAT](INFO): DAT read: TxSync time:20:53:59.9409

2025-06-25T20:54:01.646Z,1750884841.646 [DAT](INFO): DAT read: Rx Time:20:54:02.3471

2025-06-25T20:54:01.646Z,1750884841.646 [DAT](INFO): Rx dataTimestamp_ set to:1750884841.645710
2025-06-25T20:54:02.150Z,1750884842.150 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-25T20:54:02.150Z,1750884842.150 [DAT](INFO): DAT read: user:772>

2025-06-25T20:54:02.151Z,1750884842.151 [DAT](INFO): DAT read: Tx time:20:54:03.4416

2025-06-25T20:54:02.151Z,1750884842.151 [DAT](INFO): Ping request sent.
2025-06-25T20:54:02.152Z,1750884842.152 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:02.152Z,1750884842.152 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-25T20:54:02.152Z,1750884842.152 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:02.153Z,1750884842.153 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:02.403Z,1750884842.403 [DAT](INFO): DAT read: TxSync time:20:54:03.4410

2025-06-25T20:54:04.273Z,1750884844.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:54:04.416Z,1750884844.416 [DAT](INFO): ****** received valid address query ******
2025-06-25T20:54:04.417Z,1750884844.417 [DAT](INFO): ****** received valid ping request ******
2025-06-25T20:54:04.417Z,1750884844.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:54:04.669Z,1750884844.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517013
2025-06-25T20:54:04.921Z,1750884844.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769166
2025-06-25T20:54:05.175Z,1750884845.175 [DAT](INFO): DAT read: Rx Time:20:54:05.8474

2025-06-25T20:54:05.175Z,1750884845.175 [DAT](INFO): Rx dataTimestamp_ set to:1750884845.174784
2025-06-25T20:54:05.176Z,1750884845.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023996
2025-06-25T20:54:05.425Z,1750884845.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273055
2025-06-25T20:54:05.683Z,1750884845.683 [DAT](INFO): DAT read: 20:54:05.8474 LVL= 13984, 14289, 11362, 17507, AGC= 39, IDX= 445,-0.28,-1.118,-1.744,-0.304,-0.275, PHS=-0.755,-1.422,-0.032, RAW= 181.3,  33.0, CAL= 184.5,  40.9, ROT= 325.5, -40.9

2025-06-25T20:54:05.684Z,1750884845.684 [DAT](INFO): got valid direction response:
 20:54:05.8474 LVL= 13984, 14289, 11362, 17507, AGC= 39, IDX= 445,-0.28,-1.118,-1.744,-0.304,-0.275, PHS=-0.755,-1.422,-0.032, RAW= 181.3,  33.0, CAL= 184.5,  40.9, ROT= 325.5, -40.9

2025-06-25T20:54:05.685Z,1750884845.685 [DAT](INFO): DAT read: Bearing 325.5, -40.9 (Local)

2025-06-25T20:54:05.685Z,1750884845.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.5, -40.9 (Local)

2025-06-25T20:54:05.687Z,1750884845.687 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-25T20:54:05.687Z,1750884845.687 [DAT](INFO): DAT read: user:773>

2025-06-25T20:54:05.688Z,1750884845.688 [DAT](INFO): DAT read: Tx time:20:54:06.9417

2025-06-25T20:54:05.689Z,1750884845.689 [DAT](INFO): Ping request sent.
2025-06-25T20:54:05.689Z,1750884845.689 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:05.689Z,1750884845.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-25T20:54:05.690Z,1750884845.690 [DAT](INFO): direction in FSK: [0.622919,-0.428120,0.654741]
2025-06-25T20:54:05.690Z,1750884845.690 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:05.691Z,1750884845.691 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:05.719Z,1750884845.719 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:05.719Z,1750884845.719 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:05.929Z,1750884845.929 [DAT](INFO): DAT read: TxSync time:20:54:06.9410

2025-06-25T20:54:08.701Z,1750884848.701 [DAT](INFO): DAT read: Rx Time:20:54:09.3476

2025-06-25T20:54:08.701Z,1750884848.701 [DAT](INFO): Rx dataTimestamp_ set to:1750884848.701116
2025-06-25T20:54:09.214Z,1750884849.214 [DAT](INFO): DAT read: 20:54:09.3476 LVL= 12640, 16321, 10354, 18035, AGC= 39, IDX= 446,-0.39, 1.899, 1.382,-3.123, 2.857, PHS=-0.870,-1.429, 0.299, RAW= 191.5,  24.8, CAL= 191.4,  30.4, ROT= 318.6, -30.4

2025-06-25T20:54:09.216Z,1750884849.216 [DAT](INFO): got valid direction response:
 20:54:09.3476 LVL= 12640, 16321, 10354, 18035, AGC= 39, IDX= 446,-0.39, 1.899, 1.382,-3.123, 2.857, PHS=-0.870,-1.429, 0.299, RAW= 191.5,  24.8, CAL= 191.4,  30.4, ROT= 318.6, -30.4

2025-06-25T20:54:09.218Z,1750884849.218 [DAT](INFO): DAT read: Bearing 318.6, -30.4 (Local)

2025-06-25T20:54:09.219Z,1750884849.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6, -30.4 (Local)

2025-06-25T20:54:09.222Z,1750884849.222 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-25T20:54:09.224Z,1750884849.224 [DAT](INFO): DAT read: user:774>

2025-06-25T20:54:09.225Z,1750884849.225 [DAT](INFO): DAT read: Tx time:20:54:10.4417

2025-06-25T20:54:09.226Z,1750884849.226 [DAT](INFO): Ping request sent.
2025-06-25T20:54:09.226Z,1750884849.226 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:09.226Z,1750884849.226 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-25T20:54:09.229Z,1750884849.229 [DAT](INFO): direction in FSK: [0.646981,-0.570391,0.506034]
2025-06-25T20:54:09.230Z,1750884849.230 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:09.230Z,1750884849.230 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:09.236Z,1750884849.236 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:09.237Z,1750884849.237 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:09.457Z,1750884849.457 [DAT](INFO): DAT read: TxSync time:20:54:10.4410

2025-06-25T20:54:12.233Z,1750884852.233 [DAT](INFO): DAT read: Rx Time:20:54:12.8475

2025-06-25T20:54:12.233Z,1750884852.233 [DAT](INFO): Rx dataTimestamp_ set to:1750884852.233021
2025-06-25T20:54:12.743Z,1750884852.743 [DAT](INFO): DAT read: 20:54:12.8475 LVL= 15984, 18321, 13714, 19283, AGC= 40, IDX= 446,-0.10, 0.021,-1.012, 1.077, 0.898, PHS=-0.789,-1.863, 0.176, RAW= 178.2,  26.4, CAL= 180.2,  30.8, ROT= 329.8, -30.8

2025-06-25T20:54:12.744Z,1750884852.744 [DAT](INFO): got valid direction response:
 20:54:12.8475 LVL= 15984, 18321, 13714, 19283, AGC= 40, IDX= 446,-0.10, 0.021,-1.012, 1.077, 0.898, PHS=-0.789,-1.863, 0.176, RAW= 178.2,  26.4, CAL= 180.2,  30.8, ROT= 329.8, -30.8

2025-06-25T20:54:12.745Z,1750884852.745 [DAT](INFO): DAT read: Bearing 329.8, -30.8 (Local)

2025-06-25T20:54:12.745Z,1750884852.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.8, -30.8 (Local)

2025-06-25T20:54:12.747Z,1750884852.747 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-25T20:54:12.748Z,1750884852.748 [DAT](INFO): DAT read: user:775>

2025-06-25T20:54:12.749Z,1750884852.749 [DAT](INFO): DAT read: Tx time:20:54:13.9417

2025-06-25T20:54:12.749Z,1750884852.749 [DAT](INFO): Ping request sent.
2025-06-25T20:54:12.749Z,1750884852.749 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:12.749Z,1750884852.749 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-25T20:54:12.750Z,1750884852.750 [DAT](INFO): direction in FSK: [0.742377,-0.432074,0.512043]
2025-06-25T20:54:12.751Z,1750884852.751 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:12.752Z,1750884852.752 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:12.786Z,1750884852.786 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:12.786Z,1750884852.786 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:12.989Z,1750884852.989 [DAT](INFO): DAT read: TxSync time:20:54:13.9410

2025-06-25T20:54:15.509Z,1750884855.509 [DAT](INFO): DAT read: Rx Time:20:54:16.3471

2025-06-25T20:54:15.509Z,1750884855.509 [DAT](INFO): Rx dataTimestamp_ set to:1750884855.509117
2025-06-25T20:54:16.025Z,1750884856.025 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:54:16.025Z,1750884856.025 [DAT](INFO): DAT read: user:776>

2025-06-25T20:54:16.026Z,1750884856.026 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-25T20:54:16.265Z,1750884856.265 [DAT](INFO): DAT read: Tx time:20:54:17.4418

2025-06-25T20:54:16.265Z,1750884856.265 [DAT](INFO): Ping request sent.
2025-06-25T20:54:16.265Z,1750884856.265 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:16.266Z,1750884856.266 [DAT](INFO): DAT read: TxSync time:20:54:17.4411

2025-06-25T20:54:16.266Z,1750884856.266 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:19.047Z,1750884859.047 [DAT](INFO): DAT read: Rx Time:20:54:19.8471

2025-06-25T20:54:19.048Z,1750884859.048 [DAT](INFO): Rx dataTimestamp_ set to:1750884859.047351
2025-06-25T20:54:19.546Z,1750884859.546 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:54:19.546Z,1750884859.546 [DAT](INFO): DAT read: user:777>

2025-06-25T20:54:19.547Z,1750884859.547 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-25T20:54:19.797Z,1750884859.797 [DAT](INFO): DAT read: Tx time:20:54:20.9418

2025-06-25T20:54:19.797Z,1750884859.797 [DAT](INFO): Ping request sent.
2025-06-25T20:54:19.797Z,1750884859.797 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:19.798Z,1750884859.798 [DAT](INFO): DAT read: TxSync time:20:54:20.9411

2025-06-25T20:54:19.798Z,1750884859.798 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:22.569Z,1750884862.569 [DAT](INFO): DAT read: Rx Time:20:54:23.3472

2025-06-25T20:54:22.569Z,1750884862.569 [DAT](INFO): Rx dataTimestamp_ set to:1750884862.569065
2025-06-25T20:54:23.078Z,1750884863.078 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-25T20:54:23.081Z,1750884863.081 [DAT](INFO): DAT read: user:778>

2025-06-25T20:54:23.083Z,1750884863.083 [DAT](INFO): DAT read: Tx time:20:54:24.4418

2025-06-25T20:54:23.084Z,1750884863.084 [DAT](INFO): Ping request sent.
2025-06-25T20:54:23.084Z,1750884863.084 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:23.085Z,1750884863.085 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-06-25T20:54:23.086Z,1750884863.086 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:23.088Z,1750884863.088 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:23.325Z,1750884863.325 [DAT](INFO): DAT read: TxSync time:20:54:24.4411

2025-06-25T20:54:26.104Z,1750884866.104 [DAT](INFO): DAT read: Rx Time:20:54:26.8479

2025-06-25T20:54:26.105Z,1750884866.105 [DAT](INFO): Rx dataTimestamp_ set to:1750884866.104519
2025-06-25T20:54:26.614Z,1750884866.614 [DAT](INFO): DAT read: 20:54:26.8480 LVL= 25696, 32561, 17554, 14307, AGC= 38, IDX= 451, 0.02, 0.986, 2.450, 1.654, 2.990, PHS=-1.916,-0.493,-1.339, RAW= 306.2,  46.9, CAL= 313.0,  46.9, ROT= 197.0, -46.9

2025-06-25T20:54:26.615Z,1750884866.615 [DAT](INFO): got valid direction response:
 20:54:26.8480 LVL= 25696, 32561, 17554, 14307, AGC= 38, IDX= 451, 0.02, 0.986, 2.450, 1.654, 2.990, PHS=-1.916,-0.493,-1.339, RAW= 306.2,  46.9, CAL= 313.0,  46.9, ROT= 197.0, -46.9

2025-06-25T20:54:26.617Z,1750884866.617 [DAT](INFO): DAT read: Bearing 197.0, -46.9 (Local)

2025-06-25T20:54:26.617Z,1750884866.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0, -46.9 (Local)

2025-06-25T20:54:26.619Z,1750884866.619 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m  (Round-trip  1.9 ms) speed  0.0 m/s

2025-06-25T20:54:26.620Z,1750884866.620 [DAT](INFO): DAT read: user:779>

2025-06-25T20:54:26.621Z,1750884866.621 [DAT](INFO): DAT read: Tx time:20:54:27.9419

2025-06-25T20:54:26.622Z,1750884866.622 [DAT](INFO): Ping request sent.
2025-06-25T20:54:26.622Z,1750884866.622 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:26.622Z,1750884866.622 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-25T20:54:26.629Z,1750884866.629 [DAT](INFO): direction in FSK: [-0.653418,-0.199770,0.730162]
2025-06-25T20:54:26.629Z,1750884866.629 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:26.629Z,1750884866.629 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:26.638Z,1750884866.638 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:26.639Z,1750884866.639 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:26.857Z,1750884866.857 [DAT](INFO): DAT read: TxSync time:20:54:27.9412

2025-06-25T20:54:29.633Z,1750884869.633 [DAT](INFO): DAT read: Rx Time:20:54:30.3472

2025-06-25T20:54:29.634Z,1750884869.634 [DAT](INFO): Rx dataTimestamp_ set to:1750884869.633752
2025-06-25T20:54:30.138Z,1750884870.138 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-25T20:54:30.139Z,1750884870.139 [DAT](INFO): DAT read: user:780>

2025-06-25T20:54:30.140Z,1750884870.140 [DAT](INFO): DAT read: Tx time:20:54:31.4419

2025-06-25T20:54:30.141Z,1750884870.141 [DAT](INFO): Ping request sent.
2025-06-25T20:54:30.141Z,1750884870.141 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:30.142Z,1750884870.142 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-25T20:54:30.143Z,1750884870.143 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:30.156Z,1750884870.156 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:30.389Z,1750884870.389 [DAT](INFO): DAT read: TxSync time:20:54:31.4412

2025-06-25T20:54:33.161Z,1750884873.161 [DAT](INFO): DAT read: Rx Time:20:54:33.8471

2025-06-25T20:54:33.161Z,1750884873.161 [DAT](INFO): Rx dataTimestamp_ set to:1750884873.160936
2025-06-25T20:54:33.671Z,1750884873.671 [DAT](INFO): DAT read: 20:54:33.8471 LVL= 17520, 12961, 10290, 14131, AGC= 34, IDX= 439,-0.16, 0.863, 2.621, 2.336, 1.918, PHS=-0.967, 0.750, 0.415, RAW= 280.6,  -2.5, CAL= 283.8,  -5.0, ROT= 226.2,   5.0

2025-06-25T20:54:33.672Z,1750884873.672 [DAT](INFO): got valid direction response:
 20:54:33.8471 LVL= 17520, 12961, 10290, 14131, AGC= 34, IDX= 439,-0.16, 0.863, 2.621, 2.336, 1.918, PHS=-0.967, 0.750, 0.415, RAW= 280.6,  -2.5, CAL= 283.8,  -5.0, ROT= 226.2,   5.0

2025-06-25T20:54:33.673Z,1750884873.673 [DAT](INFO): DAT read: Bearing 226.2,   5.0 (Local)

2025-06-25T20:54:33.673Z,1750884873.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.2,   5.0 (Local)

2025-06-25T20:54:33.675Z,1750884873.675 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-25T20:54:33.675Z,1750884873.675 [DAT](INFO): DAT read: user:781>

2025-06-25T20:54:33.676Z,1750884873.676 [DAT](INFO): DAT read: Tx time:20:54:34.9419

2025-06-25T20:54:33.676Z,1750884873.676 [DAT](INFO): Ping request sent.
2025-06-25T20:54:33.677Z,1750884873.677 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:33.677Z,1750884873.677 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-25T20:54:33.678Z,1750884873.678 [DAT](INFO): direction in FSK: [-0.689509,-0.719014,-0.087156]
2025-06-25T20:54:33.678Z,1750884873.678 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:33.678Z,1750884873.678 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:33.682Z,1750884873.682 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:33.682Z,1750884873.682 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:33.917Z,1750884873.917 [DAT](INFO): DAT read: TxSync time:20:54:34.9412

2025-06-25T20:54:36.709Z,1750884876.709 [DAT](INFO): DAT read: Rx Time:20:54:37.3470

2025-06-25T20:54:36.709Z,1750884876.709 [DAT](INFO): Rx dataTimestamp_ set to:1750884876.709093
2025-06-25T20:54:37.219Z,1750884877.219 [DAT](INFO): DAT read: 20:54:37.3470 LVL= 16544, 13777, 12706, 11203, AGC= 35, IDX= 443,-0.09,-3.026,-1.569,-2.451,-1.953, PHS=-0.985, 0.431,-0.501, RAW= 310.3,  16.7, CAL= 314.4,  22.7, ROT= 195.6, -22.7

2025-06-25T20:54:37.223Z,1750884877.223 [DAT](INFO): got valid direction response:
 20:54:37.3470 LVL= 16544, 13777, 12706, 11203, AGC= 35, IDX= 443,-0.09,-3.026,-1.569,-2.451,-1.953, PHS=-0.985, 0.431,-0.501, RAW= 310.3,  16.7, CAL= 314.4,  22.7, ROT= 195.6, -22.7

2025-06-25T20:54:37.237Z,1750884877.237 [DAT](INFO): DAT read: Bearing 195.6, -22.7 (Local)

2025-06-25T20:54:37.237Z,1750884877.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.6, -22.7 (Local)

2025-06-25T20:54:37.239Z,1750884877.239 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-25T20:54:37.239Z,1750884877.239 [DAT](INFO): DAT read: user:782>

2025-06-25T20:54:37.241Z,1750884877.241 [DAT](INFO): DAT read: Tx time:20:54:38.4419

2025-06-25T20:54:37.241Z,1750884877.241 [DAT](INFO): Ping request sent.
2025-06-25T20:54:37.241Z,1750884877.241 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:37.242Z,1750884877.242 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-25T20:54:37.243Z,1750884877.243 [DAT](INFO): direction in FSK: [-0.888554,-0.248089,0.385906]
2025-06-25T20:54:37.243Z,1750884877.243 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:37.243Z,1750884877.243 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:37.246Z,1750884877.246 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:37.246Z,1750884877.246 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:37.465Z,1750884877.465 [DAT](INFO): DAT read: TxSync time:20:54:38.4413

2025-06-25T20:54:40.238Z,1750884880.238 [DAT](INFO): DAT read: Rx Time:20:54:40.8470

2025-06-25T20:54:40.238Z,1750884880.238 [DAT](INFO): Rx dataTimestamp_ set to:1750884880.237838
2025-06-25T20:54:40.743Z,1750884880.743 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-06-25T20:54:40.744Z,1750884880.744 [DAT](INFO): DAT read: user:783>

2025-06-25T20:54:40.745Z,1750884880.745 [DAT](INFO): DAT read: Tx time:20:54:41.9420

2025-06-25T20:54:40.745Z,1750884880.745 [DAT](INFO): Ping request sent.
2025-06-25T20:54:40.745Z,1750884880.745 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:40.746Z,1750884880.746 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-25T20:54:40.746Z,1750884880.746 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:40.747Z,1750884880.747 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:40.993Z,1750884880.993 [DAT](INFO): DAT read: TxSync time:20:54:41.9413

2025-06-25T20:54:43.516Z,1750884883.516 [DAT](INFO): DAT read: Rx Time:20:54:44.3480

2025-06-25T20:54:43.516Z,1750884883.516 [DAT](INFO): Rx dataTimestamp_ set to:1750884883.515809
2025-06-25T20:54:44.270Z,1750884884.270 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-25T20:54:44.271Z,1750884884.271 [DAT](INFO): DAT read: user:784>

2025-06-25T20:54:44.272Z,1750884884.272 [DAT](INFO): DAT read: Tx time:20:54:45.4420

2025-06-25T20:54:44.272Z,1750884884.272 [DAT](INFO): Ping request sent.
2025-06-25T20:54:44.272Z,1750884884.272 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:44.273Z,1750884884.273 [DAT](INFO): DAT read: TxSync time:20:54:45.4413

2025-06-25T20:54:44.273Z,1750884884.273 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-25T20:54:44.273Z,1750884884.273 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:44.274Z,1750884884.274 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:47.041Z,1750884887.041 [DAT](INFO): DAT read: Rx Time:20:54:47.8478

2025-06-25T20:54:47.041Z,1750884887.041 [DAT](INFO): Rx dataTimestamp_ set to:1750884887.041034
2025-06-25T20:54:47.546Z,1750884887.546 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-25T20:54:47.546Z,1750884887.546 [DAT](INFO): DAT read: user:785>

2025-06-25T20:54:47.547Z,1750884887.547 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-25T20:54:47.797Z,1750884887.797 [DAT](INFO): DAT read: Tx time:20:54:48.9420

2025-06-25T20:54:47.797Z,1750884887.797 [DAT](INFO): Ping request sent.
2025-06-25T20:54:47.797Z,1750884887.797 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:47.798Z,1750884887.798 [DAT](INFO): DAT read: TxSync time:20:54:48.9413

2025-06-25T20:54:47.798Z,1750884887.798 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:50.569Z,1750884890.569 [DAT](INFO): DAT read: Rx Time:20:54:51.3476

2025-06-25T20:54:50.570Z,1750884890.570 [DAT](INFO): Rx dataTimestamp_ set to:1750884890.569384
2025-06-25T20:54:51.074Z,1750884891.074 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-25T20:54:51.075Z,1750884891.075 [DAT](INFO): DAT read: user:786>

2025-06-25T20:54:51.075Z,1750884891.075 [DAT](INFO): DAT read: Tx time:20:54:52.4420

2025-06-25T20:54:51.076Z,1750884891.076 [DAT](INFO): Ping request sent.
2025-06-25T20:54:51.076Z,1750884891.076 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:51.076Z,1750884891.076 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-25T20:54:51.076Z,1750884891.076 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:51.077Z,1750884891.077 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:51.325Z,1750884891.325 [DAT](INFO): DAT read: TxSync time:20:54:52.4413

2025-06-25T20:54:54.105Z,1750884894.105 [DAT](INFO): DAT read: Rx Time:20:54:54.8480

2025-06-25T20:54:54.105Z,1750884894.105 [DAT](INFO): Rx dataTimestamp_ set to:1750884894.105005
2025-06-25T20:54:54.615Z,1750884894.615 [DAT](INFO): DAT read: 20:54:54.8480 LVL= 19440, 24113, 13618,  9363, AGC= 35, IDX= 441, 0.28, 0.351, 2.266, 0.511, 1.738, PHS=-1.299, 0.575,-1.230, RAW= 328.1,  20.6, CAL= 330.9,  25.1, ROT= 179.1, -25.1

2025-06-25T20:54:54.616Z,1750884894.616 [DAT](INFO): got valid direction response:
 20:54:54.8480 LVL= 19440, 24113, 13618,  9363, AGC= 35, IDX= 441, 0.28, 0.351, 2.266, 0.511, 1.738, PHS=-1.299, 0.575,-1.230, RAW= 328.1,  20.6, CAL= 330.9,  25.1, ROT= 179.1, -25.1

2025-06-25T20:54:54.617Z,1750884894.617 [DAT](INFO): DAT read: Bearing 179.1, -25.1 (Local)

2025-06-25T20:54:54.617Z,1750884894.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.1, -25.1 (Local)

2025-06-25T20:54:54.618Z,1750884894.618 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-25T20:54:54.619Z,1750884894.619 [DAT](INFO): DAT read: user:787>

2025-06-25T20:54:54.620Z,1750884894.620 [DAT](INFO): DAT read: Tx time:20:54:55.9421

2025-06-25T20:54:54.621Z,1750884894.621 [DAT](INFO): Ping request sent.
2025-06-25T20:54:54.621Z,1750884894.621 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:54.621Z,1750884894.621 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-25T20:54:54.622Z,1750884894.622 [DAT](INFO): direction in FSK: [-0.905457,0.014224,0.424199]
2025-06-25T20:54:54.622Z,1750884894.622 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:54.623Z,1750884894.623 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:54.627Z,1750884894.627 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:54.635Z,1750884894.635 [DAT](INFO): publishing direction and range info
2025-06-25T20:54:54.861Z,1750884894.861 [DAT](INFO): DAT read: TxSync time:20:54:55.9414

2025-06-25T20:54:57.637Z,1750884897.637 [DAT](INFO): DAT read: Rx Time:20:54:58.3471

2025-06-25T20:54:57.638Z,1750884897.638 [DAT](INFO): Rx dataTimestamp_ set to:1750884897.637620
2025-06-25T20:54:58.142Z,1750884898.142 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-06-25T20:54:58.142Z,1750884898.142 [DAT](INFO): DAT read: user:788>

2025-06-25T20:54:58.143Z,1750884898.143 [DAT](INFO): DAT read: Tx time:20:54:59.4421

2025-06-25T20:54:58.144Z,1750884898.144 [DAT](INFO): Ping request sent.
2025-06-25T20:54:58.144Z,1750884898.144 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:54:58.145Z,1750884898.145 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-25T20:54:58.145Z,1750884898.145 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:58.145Z,1750884898.145 [DAT](INFO): publishing transmit ping time
2025-06-25T20:54:58.393Z,1750884898.393 [DAT](INFO): DAT read: TxSync time:20:54:59.4414

2025-06-25T20:55:01.165Z,1750884901.165 [DAT](INFO): DAT read: Rx Time:20:55:01.8473

2025-06-25T20:55:01.165Z,1750884901.165 [DAT](INFO): Rx dataTimestamp_ set to:1750884901.165007
2025-06-25T20:55:01.682Z,1750884901.682 [DAT](INFO): DAT read: 20:55:01.8473 LVL= 14176, 12609,  7714, 10547, AGC= 33, IDX= 439,-0.12, 1.293, 2.690, 2.777, 2.353, PHS=-0.972, 0.384, 0.421, RAW= 268.7,   2.5, CAL= 271.4,   3.0, ROT= 238.6,  -3.0

2025-06-25T20:55:01.683Z,1750884901.683 [DAT](INFO): got valid direction response:
 20:55:01.8473 LVL= 14176, 12609,  7714, 10547, AGC= 33, IDX= 439,-0.12, 1.293, 2.690, 2.777, 2.353, PHS=-0.972, 0.384, 0.421, RAW= 268.7,   2.5, CAL= 271.4,   3.0, ROT= 238.6,  -3.0

2025-06-25T20:55:01.688Z,1750884901.688 [DAT](INFO): DAT read: Bearing 238.6,  -3.0 (Local)

2025-06-25T20:55:01.688Z,1750884901.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.6,  -3.0 (Local)

2025-06-25T20:55:01.690Z,1750884901.690 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-25T20:55:01.690Z,1750884901.690 [DAT](INFO): DAT read: user:789>

2025-06-25T20:55:01.691Z,1750884901.691 [DAT](INFO): DAT read: Tx time:20:55:02.9412

2025-06-25T20:55:01.691Z,1750884901.691 [DAT](INFO): Ping request sent.
2025-06-25T20:55:01.728Z,1750884901.728 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:01.728Z,1750884901.728 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-25T20:55:01.729Z,1750884901.729 [DAT](INFO): direction in FSK: [-0.520295,-0.852381,0.052336]
2025-06-25T20:55:01.729Z,1750884901.729 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:01.730Z,1750884901.730 [DAT](INFO): publishing direction and range info
2025-06-25T20:55:01.745Z,1750884901.745 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:01.745Z,1750884901.745 [DAT](INFO): publishing direction and range info
2025-06-25T20:55:04.193Z,1750884904.193 [DAT](INFO): DAT read: Rx Time:20:55:04.7981

2025-06-25T20:55:04.193Z,1750884904.193 [DAT](INFO): Rx dataTimestamp_ set to:1750884904.192993
2025-06-25T20:55:04.716Z,1750884904.716 [DAT](INFO): DAT read: 20:55:04.7982 LVL= 14576, 13009,  8466, 10771, AGC= 33, IDX= 463, 0.37, 0.466, 1.750, 1.795, 1.519, PHS=-0.965, 0.278, 0.274, RAW= 270.2,   6.7, CAL= 275.0,   9.2, ROT= 235.0,  -9.2

2025-06-25T20:55:04.719Z,1750884904.719 [DAT](INFO): got valid direction response:
 20:55:04.7982 LVL= 14576, 13009,  8466, 10771, AGC= 33, IDX= 463, 0.37, 0.466, 1.750, 1.795, 1.519, PHS=-0.965, 0.278, 0.274, RAW= 270.2,   6.7, CAL= 275.0,   9.2, ROT= 235.0,  -9.2

2025-06-25T20:55:04.721Z,1750884904.721 [DAT](INFO): DAT read: OK

2025-06-25T20:55:04.722Z,1750884904.722 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:55:04.723Z,1750884904.723 [DAT](INFO): DAT read: user:790>

2025-06-25T20:55:04.726Z,1750884904.726 [DAT](INFO): DAT read: Tx time:20:55:05.8913

2025-06-25T20:55:04.727Z,1750884904.727 [DAT](INFO): Ping request sent.
2025-06-25T20:55:04.727Z,1750884904.727 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:04.728Z,1750884904.728 [DAT](INFO): #Rx 18: Read direction message, but no range.
2025-06-25T20:55:04.732Z,1750884904.732 [DAT](INFO): direction in FSK: [-0.566198,-0.808615,0.159881]
2025-06-25T20:55:04.733Z,1750884904.733 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:04.758Z,1750884904.758 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:06.970Z,1750884906.970 [DAT](INFO): DAT read: Rx Time:20:55:07.7483

2025-06-25T20:55:06.970Z,1750884906.970 [DAT](INFO): Rx dataTimestamp_ set to:1750884906.969843
2025-06-25T20:55:07.330Z,1750884907.330 [DockingStepper](INFO): Changing to mode: 1
2025-06-25T20:55:07.330Z,1750884907.330 [DockingStepper](INFO): Standby mode.
2025-06-25T20:55:07.385Z,1750884907.385 [DockingStepper](INFO): Commanding positive:34669
2025-06-25T20:55:07.473Z,1750884907.473 [DAT](INFO): DAT read: OK

2025-06-25T20:55:07.473Z,1750884907.473 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:55:07.473Z,1750884907.473 [DAT](INFO): DAT read: user:791>

2025-06-25T20:55:07.474Z,1750884907.474 [DAT](INFO): DAT read: Tx time:20:55:08.8413

2025-06-25T20:55:07.474Z,1750884907.474 [DAT](INFO): Ping request sent.
2025-06-25T20:55:07.475Z,1750884907.475 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:07.475Z,1750884907.475 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:07.977Z,1750884907.977 [DAT](INFO): Requesting device enable set for address 50.
2025-06-25T20:55:08.229Z,1750884908.229 [DAT](INFO): Requesting device enable set for address 50.
2025-06-25T20:55:08.481Z,1750884908.481 [DAT](INFO): Requesting device enable set for address 50.
2025-06-25T20:55:09.993Z,1750884909.993 [DAT](INFO): DAT read: Rx Time:20:55:10.6983

2025-06-25T20:55:09.993Z,1750884909.993 [DAT](INFO): Rx dataTimestamp_ set to:1750884909.993015
2025-06-25T20:55:10.143Z,1750884910.143 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V
2025-06-25T20:55:10.505Z,1750884910.505 [DAT](INFO): DAT read: 20:55:10.6983 LVL= 26592, 16161, 12594, 21891, AGC= 37, IDX= 449,-0.31, 2.653,-1.258,-1.905,-2.607, PHS=-0.935, 1.396, 0.699, RAW= 286.9, -11.2, CAL= 292.8, -17.0, ROT= 217.2,  17.0

2025-06-25T20:55:10.507Z,1750884910.507 [DAT](INFO): got valid direction response:
 20:55:10.6983 LVL= 26592, 16161, 12594, 21891, AGC= 37, IDX= 449,-0.31, 2.653,-1.258,-1.905,-2.607, PHS=-0.935, 1.396, 0.699, RAW= 286.9, -11.2, CAL= 292.8, -17.0, ROT= 217.2,  17.0

2025-06-25T20:55:10.507Z,1750884910.507 [DAT](INFO): DAT read: OK

2025-06-25T20:55:10.507Z,1750884910.507 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:55:10.508Z,1750884910.508 [DAT](INFO): DAT read: user:792>

2025-06-25T20:55:10.508Z,1750884910.508 [DAT](INFO): DAT read: Tx time:20:55:11.7922

2025-06-25T20:55:10.509Z,1750884910.509 [DAT](INFO): Ping request sent.
2025-06-25T20:55:10.509Z,1750884910.509 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:10.509Z,1750884910.509 [DAT](INFO): #Rx 19: Read direction message, but no range.
2025-06-25T20:55:10.510Z,1750884910.510 [DAT](INFO): direction in FSK: [-0.761725,-0.578181,-0.292372]
2025-06-25T20:55:10.510Z,1750884910.510 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:10.517Z,1750884910.517 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:10.749Z,1750884910.749 [DAT](INFO): DAT read: TxSync time:20:55:11.7915

2025-06-25T20:55:11.616Z,1750884911.616 [MassServo](FAULT): Reading outside of valid range:427070.000000

2025-06-25T20:55:13.522Z,1750884913.522 [DAT](INFO): DAT read: Rx Time:20:55:14.1978

2025-06-25T20:55:13.523Z,1750884913.523 [DAT](INFO): Rx dataTimestamp_ set to:1750884913.522279
2025-06-25T20:55:14.026Z,1750884914.026 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-25T20:55:14.026Z,1750884914.026 [DAT](INFO): DAT read: user:793>

2025-06-25T20:55:14.027Z,1750884914.027 [DAT](INFO): DAT read: Tx time:20:55:15.2913

2025-06-25T20:55:14.027Z,1750884914.027 [DAT](INFO): Ping request sent.
2025-06-25T20:55:14.028Z,1750884914.028 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:14.028Z,1750884914.028 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-06-25T20:55:14.028Z,1750884914.028 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:14.029Z,1750884914.029 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:16.549Z,1750884916.549 [DAT](INFO): DAT read: Rx Time:20:55:17.1489

2025-06-25T20:55:16.549Z,1750884916.549 [DAT](INFO): Rx dataTimestamp_ set to:1750884916.549020
2025-06-25T20:55:17.053Z,1750884917.053 [DAT](INFO): DAT read: OK

2025-06-25T20:55:17.053Z,1750884917.053 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:55:17.053Z,1750884917.053 [DAT](INFO): DAT read: user:794>

2025-06-25T20:55:17.054Z,1750884917.054 [DAT](INFO): DAT read: Tx time:20:55:18.2414

2025-06-25T20:55:17.054Z,1750884917.054 [DAT](INFO): Ping request sent.
2025-06-25T20:55:17.055Z,1750884917.055 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:17.055Z,1750884917.055 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:19.321Z,1750884919.321 [DAT](INFO): DAT read: Rx Time:20:55:20.0989

2025-06-25T20:55:19.321Z,1750884919.321 [DAT](INFO): Rx dataTimestamp_ set to:1750884919.320954
2025-06-25T20:55:19.825Z,1750884919.825 [DAT](INFO): DAT read: OK

2025-06-25T20:55:19.825Z,1750884919.825 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:55:19.825Z,1750884919.825 [DAT](INFO): DAT read: user:795>

2025-06-25T20:55:19.826Z,1750884919.826 [DAT](INFO): DAT read: Tx time:20:55:21.1914

2025-06-25T20:55:19.826Z,1750884919.826 [DAT](INFO): Ping request sent.
2025-06-25T20:55:19.826Z,1750884919.826 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:55:19.827Z,1750884919.827 [DAT](INFO): publishing transmit ping time
2025-06-25T20:55:22.353Z,1750884922.353 [DAT](INFO): DAT read: Rx Time:20:55:23.0488

2025-06-25T20:55:22.353Z,1750884922.353 [DAT](INFO): Rx dataTimestamp_ set to:1750884922.353057
2025-06-25T20:55:22.861Z,1750884922.861 [DAT](INFO): DAT read: OK

2025-06-25T20:55:22.861Z,1750884922.861 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:55:23.145Z,1750884923.145 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,              +0.00,        +0.00,  2.79
2025-06-25T20:55:41.052Z,1750884941.052 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.009950
2025-06-25T20:55:41.104Z,1750884941.104 [lineCaptureHoming:J] Running Loop=1
2025-06-25T20:55:41.104Z,1750884941.104 [lineCaptureHoming:J] Running Loop=1
2025-06-25T20:55:41.105Z,1750884941.105 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-25T20:55:41.106Z,1750884941.106 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-25T20:55:41.106Z,1750884941.106 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-25T20:55:41.106Z,1750884941.106 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-25T20:55:41.106Z,1750884941.106 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-25T20:55:41.106Z,1750884941.106 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-25T20:55:42.879Z,1750884942.879 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:55:49.983Z,1750884949.983 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250625T140000/Courier0039.lzma
2025-06-25T20:55:50.987Z,1750884950.987 [DataOverHttps](INFO): Moved sent file to Logs/20250625T140000/Courier0039.lzma.bak
2025-06-25T20:55:50.987Z,1750884950.987 [DataOverHttps](INFO): SBD MOMSN=25246290
2025-06-25T20:55:52.807Z,1750884952.807 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:55:58.669Z,1750884958.669 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-06-25T20:56:02.944Z,1750884962.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:56:04.698Z,1750884964.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-25T20:56:04.705Z,1750884964.705 [DAT](DEBUG): Acoustic response timeout
2025-06-25T20:56:04.705Z,1750884964.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-25T20:56:04.959Z,1750884964.959 [DAT](INFO): DAT read: user:796>

2025-06-25T20:56:04.960Z,1750884964.960 [DAT](INFO): DAT read: Tx time:20:56:06.1428

2025-06-25T20:56:04.961Z,1750884964.961 [DAT](INFO): Ping request sent.
2025-06-25T20:56:04.961Z,1750884964.961 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:56:04.961Z,1750884964.961 [DAT](INFO): DAT read: TxSync time:20:56:06.1420

2025-06-25T20:56:04.962Z,1750884964.962 [DAT](INFO): publishing transmit ping time
2025-06-25T20:56:04.962Z,1750884964.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001584
2025-06-25T20:56:05.210Z,1750884965.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248946
2025-06-25T20:56:05.477Z,1750884965.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.516123
2025-06-25T20:56:05.729Z,1750884965.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.768192
2025-06-25T20:56:05.981Z,1750884965.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.020211
2025-06-25T20:56:06.233Z,1750884966.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272165
2025-06-25T20:56:06.485Z,1750884966.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524145
2025-06-25T20:56:06.692Z,1750884966.692 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V
2025-06-25T20:56:06.737Z,1750884966.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.776163
2025-06-25T20:56:06.989Z,1750884966.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028197
2025-06-25T20:56:07.241Z,1750884967.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280217
2025-06-25T20:56:07.493Z,1750884967.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532242
2025-06-25T20:56:07.745Z,1750884967.745 [DAT](INFO): DAT read: Rx Time:20:56:08.5486

2025-06-25T20:56:07.745Z,1750884967.745 [DAT](INFO): Rx dataTimestamp_ set to:1750884967.745054
2025-06-25T20:56:07.746Z,1750884967.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785234
2025-06-25T20:56:07.998Z,1750884967.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036931
2025-06-25T20:56:08.250Z,1750884968.250 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-25T20:56:08.250Z,1750884968.250 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-25T20:56:10.940Z,1750884970.940 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250625T202116/Courier0000.lzma
2025-06-25T20:56:11.133Z,1750884971.133 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 63.708733 with power and with comms
2025-06-25T20:56:11.510Z,1750884971.510 [lineCaptureHoming:Lap] Stopped
2025-06-25T20:56:11.510Z,1750884971.510 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-25T20:56:11.510Z,1750884971.510 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-25T20:56:11.510Z,1750884971.510 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-25T20:56:11.510Z,1750884971.510 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-25T20:56:11.515Z,1750884971.515 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-25T20:56:11.515Z,1750884971.515 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-25T20:56:11.515Z,1750884971.515 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-25T20:56:11.515Z,1750884971.515 [lineCaptureHoming] Stopped
2025-06-25T20:56:11.515Z,1750884971.515 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-25T20:56:11.515Z,1750884971.515 [lineCaptureHoming:Science] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:B] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:C] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:E] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:F] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-25T20:56:11.516Z,1750884971.516 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:J] Stopped
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:TrackAC.] Stopped
2025-06-25T20:56:11.517Z,1750884971.517 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-25T20:56:11.621Z,1750884971.621 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-25T20:56:11.661Z,1750884971.661 [WetLabsBB2FL](INFO): Powering down
2025-06-25T20:56:11.876Z,1750884971.876 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-25T20:56:11.876Z,1750884971.876 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-25T20:56:11.885Z,1750884971.885 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-25T20:56:11.943Z,1750884971.943 [DataOverHttps](INFO): Moved sent file to Logs/20250625T202116/Courier0000.lzma.bak
2025-06-25T20:56:11.943Z,1750884971.943 [DataOverHttps](INFO): SBD MOMSN=25246293
2025-06-25T20:56:12.029Z,1750884972.029 [DAT](INFO): DAT read: user:797>

2025-06-25T20:56:12.030Z,1750884972.030 [DAT](INFO): DAT read: Tx time:20:56:13.2419

2025-06-25T20:56:12.030Z,1750884972.030 [DAT](INFO): Ping request sent.
2025-06-25T20:56:12.030Z,1750884972.030 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:56:12.030Z,1750884972.030 [DAT](INFO): publishing transmit ping time
2025-06-25T20:56:12.434Z,1750884972.434 [DockingStepper](INFO): Pause
2025-06-25T20:56:12.944Z,1750884972.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-25T20:56:14.297Z,1750884974.297 [DAT](INFO): DAT read: Rx Time:20:56:15.1004

2025-06-25T20:56:14.297Z,1750884974.297 [DAT](INFO): Rx dataTimestamp_ set to:1750884974.296970
2025-06-25T20:56:14.804Z,1750884974.804 [DAT](INFO): DAT read: OK

2025-06-25T20:56:14.806Z,1750884974.806 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:56:14.828Z,1750884974.828 [DAT](INFO): DAT read: user:798>

2025-06-25T20:56:14.829Z,1750884974.829 [DAT](INFO): DAT read: Tx time:20:56:16.1919

2025-06-25T20:56:14.829Z,1750884974.829 [DAT](INFO): Ping request sent.
2025-06-25T20:56:14.829Z,1750884974.829 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:56:14.830Z,1750884974.830 [DAT](INFO): publishing transmit ping time
2025-06-25T20:56:16.682Z,1750884976.682 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-06-25T20:56:16.688Z,1750884976.688 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-25T20:56:16.719Z,1750884976.719 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-25T20:56:16.738Z,1750884976.738 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-25T20:56:16.765Z,1750884976.765 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-25T20:56:16.781Z,1750884976.781 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-25T20:56:16.790Z,1750884976.790 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-25T20:56:16.797Z,1750884976.797 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-25T20:56:16.799Z,1750884976.799 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-25T20:56:16.812Z,1750884976.812 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-25T20:56:16.814Z,1750884976.814 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-25T20:56:16.824Z,1750884976.824 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-25T20:56:16.826Z,1750884976.826 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-25T20:56:16.833Z,1750884976.833 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-25T20:56:16.833Z,1750884976.833 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-25T20:56:16.833Z,1750884976.833 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-25T20:56:16.834Z,1750884976.834 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-25T20:56:16.956Z,1750884976.956 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-25T20:56:16.959Z,1750884976.959 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-25T20:56:16.963Z,1750884976.963 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-25T20:56:16.979Z,1750884976.979 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-25T20:56:16.981Z,1750884976.981 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-25T20:56:16.982Z,1750884976.982 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-25T20:56:16.988Z,1750884976.988 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-25T20:56:16.995Z,1750884976.995 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-25T20:56:17.006Z,1750884977.006 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-25T20:56:17.006Z,1750884977.006 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-25T20:56:17.007Z,1750884977.007 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-25T20:56:17.090Z,1750884977.090 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-06-25T20:56:17.126Z,1750884977.126 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-25T20:56:17.132Z,1750884977.132 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-25T20:56:17.135Z,1750884977.135 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-25T20:56:17.135Z,1750884977.135 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-25T20:56:17.141Z,1750884977.141 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-25T20:56:17.294Z,1750884977.294 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-06-25T20:56:17.298Z,1750884977.298 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-25T20:56:17.300Z,1750884977.300 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-25T20:56:17.302Z,1750884977.302 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-25T20:56:17.310Z,1750884977.310 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-25T20:56:17.312Z,1750884977.312 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-25T20:56:17.319Z,1750884977.319 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-25T20:56:17.321Z,1750884977.321 [DAT](INFO): DAT read: Rx Time:20:56:18.0505

2025-06-25T20:56:17.321Z,1750884977.321 [DAT](INFO): Rx dataTimestamp_ set to:1750884977.321199
2025-06-25T20:56:17.325Z,1750884977.325 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-25T20:56:17.327Z,1750884977.327 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-25T20:56:17.327Z,1750884977.327 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-25T20:56:17.333Z,1750884977.333 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-25T20:56:17.829Z,1750884977.829 [DAT](INFO): DAT read: 20:56:18.0505 LVL= 21488, 14993,  9778, 14051, AGC= 34, IDX= 444, 0.28,-1.992, 0.533,-0.558,-0.902, PHS=-1.002, 1.482, 0.341, RAW= 297.3,  -7.7, CAL= 301.7, -11.0, ROT= 208.3,  11.0

2025-06-25T20:56:17.830Z,1750884977.830 [DAT](INFO): got valid direction response:
 20:56:18.0505 LVL= 21488, 14993,  9778, 14051, AGC= 34, IDX= 444, 0.28,-1.992, 0.533,-0.558,-0.902, PHS=-1.002, 1.482, 0.341, RAW= 297.3,  -7.7, CAL= 301.7, -11.0, ROT= 208.3,  11.0

2025-06-25T20:56:17.831Z,1750884977.831 [DAT](INFO): DAT read: OK

2025-06-25T20:56:17.831Z,1750884977.831 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:56:17.831Z,1750884977.831 [DAT](INFO): DAT read: user:799>

2025-06-25T20:56:17.833Z,1750884977.833 [DAT](INFO): DAT read: Tx time:20:56:19.1420

2025-06-25T20:56:17.833Z,1750884977.833 [DAT](INFO): Ping request sent.
2025-06-25T20:56:17.833Z,1750884977.833 [DAT](INFO): transmitted an acoustic signal
2025-06-25T20:56:17.833Z,1750884977.833 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-25T20:56:17.834Z,1750884977.834 [DAT](INFO): direction in FSK: [-0.864300,-0.465378,-0.190809]
2025-06-25T20:56:17.834Z,1750884977.834 [DAT](INFO): publishing transmit ping time
2025-06-25T20:56:17.894Z,1750884977.894 [DAT](INFO): publishing transmit ping time
2025-06-25T20:56:20.349Z,1750884980.349 [DAT](INFO): DAT read: Rx Time:20:56:21.0002

2025-06-25T20:56:20.350Z,1750884980.350 [DAT](INFO): Rx dataTimestamp_ set to:1750884980.349347
2025-06-25T20:56:20.853Z,1750884980.853 [DAT](INFO): DAT read: OK

2025-06-25T20:56:20.853Z,1750884980.853 [DAT](INFO): unknown deviceResponse_: OK

2025-06-25T20:56:21.594Z,1750884981.594 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-06-25T20:56:21.646Z,1750884981.646 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-25T20:56:21.648Z,1750884981.648 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-25T20:56:21.650Z,1750884981.650 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-25T20:56:21.652Z,1750884981.652 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-25T20:56:21.654Z,1750884981.654 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-25T20:56:21.656Z,1750884981.656 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-25T20:56:21.658Z,1750884981.658 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-25T20:56:21.661Z,1750884981.661 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-25T20:56:21.663Z,1750884981.663 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-25T20:56:21.666Z,1750884981.666 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-25T20:56:21.667Z,1750884981.667 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-25T20:56:21.670Z,1750884981.670 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-25T20:56:21.671Z,1750884981.671 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-25T20:56:21.673Z,1750884981.673 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-25T20:56:21.675Z,1750884981.675 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-25T20:56:21.677Z,1750884981.677 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-25T20:56:21.679Z,1750884981.679 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-25T20:56:21.702Z,1750884981.702 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-25T20:56:21.708Z,1750884981.708 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-25T20:56:21.710Z,1750884981.710 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-25T20:56:21.716Z,1750884981.716 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-25T20:56:21.718Z,1750884981.718 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-25T20:56:21.736Z,1750884981.736 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-25T20:56:21.739Z,1750884981.739 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-25T20:56:21.758Z,1750884981.758 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-25T20:56:21.764Z,1750884981.764 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-25T20:56:21.767Z,1750884981.767 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-25T20:56:21.778Z,1750884981.778 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-25T20:56:21.783Z,1750884981.783 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-25T20:56:21.797Z,1750884981.797 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-25T20:56:21.799Z,1750884981.799 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-25T20:56:21.832Z,1750884981.832 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-25T20:56:21.858Z,1750884981.858 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-25T20:56:21.870Z,1750884981.870 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-25T20:56:21.918Z,1750884981.918 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-25T20:56:21.936Z,1750884981.936 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-25T20:56:21.938Z,1750884981.938 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-25T20:56:21.964Z,1750884981.964 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-25T20:56:21.966Z,1750884981.966 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-25T20:56:21.993Z,1750884981.993 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-25T20:56:22.002Z,1750884982.002 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-25T20:56:22.010Z,1750884982.010 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-25T20:56:22.017Z,1750884982.017 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-25T20:56:22.025Z,1750884982.025 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-25T20:56:22.034Z,1750884982.034 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-25T20:56:22.041Z,1750884982.041 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-25T20:56:22.043Z,1750884982.043 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-25T20:56:22.050Z,1750884982.050 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-25T20:56:22.064Z,1750884982.064 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-25T20:56:22.066Z,1750884982.066 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-25T20:56:22.073Z,1750884982.073 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-25T20:56:22.075Z,1750884982.075 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-25T20:56:22.082Z,1750884982.082 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-25T20:56:22.092Z,1750884982.092 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-25T20:56:22.097Z,1750884982.097 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-25T20:56:22.099Z,1750884982.099 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-25T20:56:22.102Z,1750884982.102 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-25T20:56:22.108Z,1750884982.108 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-25T20:56:22.111Z,1750884982.111 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-25T20:56:22.118Z,1750884982.118 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-25T20:56:22.129Z,1750884982.129 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-25T20:56:22.131Z,1750884982.131 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-25T20:56:22.137Z,1750884982.137 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-25T20:56:22.139Z,1750884982.139 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-25T20:56:22.146Z,1750884982.146 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-25T20:56:22.152Z,1750884982.152 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-25T20:56:22.155Z,1750884982.155 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-25T20:56:22.168Z,1750884982.168 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-25T20:56:22.171Z,1750884982.171 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-25T20:56:22.181Z,1750884982.181 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-25T20:56:22.183Z,1750884982.183 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-25T20:56:22.185Z,1750884982.185 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-25T20:56:22.192Z,1750884982.192 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-25T20:56:22.195Z,1750884982.195 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-25T20:56:22.197Z,1750884982.197 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-25T20:56:22.199Z,1750884982.199 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-25T20:56:22.210Z,1750884982.210 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-25T20:56:22.217Z,1750884982.217 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-25T20:56:22.219Z,1750884982.219 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-25T20:56:22.236Z,1750884982.236 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-25T20:56:22.238Z,1750884982.238 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-25T20:56:22.245Z,1750884982.245 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-25T20:56:22.257Z,1750884982.257 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-25T20:56:22.259Z,1750884982.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-25T20:56:22.269Z,1750884982.269 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-25T20:56:22.276Z,1750884982.276 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-25T20:56:22.278Z,1750884982.278 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-25T20:56:22.317Z,1750884982.317 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-25T20:56:22.319Z,1750884982.319 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-25T20:56:22.334Z,1750884982.334 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-25T20:56:22.344Z,1750884982.344 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-25T20:56:22.347Z,1750884982.347 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-25T20:56:22.353Z,1750884982.353 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-25T20:56:22.355Z,1750884982.355 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-25T20:56:22.390Z,1750884982.390 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-25T20:56:22.398Z,1750884982.398 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-25T20:56:22.412Z,1750884982.412 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-25T20:56:22.418Z,1750884982.418 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-25T20:56:22.427Z,1750884982.427 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-25T20:56:22.434Z,1750884982.434 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-25T20:56:22.440Z,1750884982.440 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-25T20:56:22.443Z,1750884982.443 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-25T20:56:22.446Z,1750884982.446 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-25T20:56:22.453Z,1750884982.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-25T20:56:22.460Z,1750884982.460 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-25T20:56:22.463Z,1750884982.463 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-25T20:56:22.469Z,1750884982.469 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-25T20:56:22.476Z,1750884982.476 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-25T20:56:22.478Z,1750884982.478 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-25T20:56:22.489Z,1750884982.489 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-25T20:56:22.491Z,1750884982.491 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-25T20:56:22.498Z,1750884982.498 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-25T20:56:22.504Z,1750884982.504 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-25T20:56:22.507Z,1750884982.507 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-25T20:56:22.518Z,1750884982.518 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-25T20:56:22.524Z,1750884982.524 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-25T20:56:22.527Z,1750884982.527 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-25T20:56:22.531Z,1750884982.531 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-25T20:56:22.546Z,1750884982.546 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-25T20:56:22.553Z,1750884982.553 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-25T20:56:22.555Z,1750884982.555 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-25T20:56:22.570Z,1750884982.570 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-25T20:56:22.573Z,1750884982.573 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-25T20:56:22.575Z,1750884982.575 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-25T20:56:22.593Z,1750884982.593 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-25T20:56:22.604Z,1750884982.604 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-25T20:56:22.606Z,1750884982.606 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-25T20:56:22.613Z,1750884982.613 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-25T20:56:22.615Z,1750884982.615 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-25T20:56:22.622Z,1750884982.622 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-25T20:56:22.632Z,1750884982.632 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-25T20:56:22.635Z,1750884982.635 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-25T20:56:22.679Z,1750884982.679 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:22.776Z,1750884982.776 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-25T20:56:22.894Z,1750884982.894 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-25T20:56:22.918Z,1750884982.918 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:22.941Z,1750884982.941 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:22.964Z,1750884982.964 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-25T20:56:22.989Z,1750884982.989 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:23.023Z,1750884983.023 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:23.071Z,1750884983.071 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-25T20:56:23.153Z,1750884983.153 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:23.199Z,1750884983.199 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-25T20:56:23.287Z,1750884983.287 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:23.329Z,1750884983.329 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-25T20:56:23.380Z,1750884983.380 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:23.409Z,1750884983.409 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-25T20:56:23.454Z,1750884983.454 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-25T20:56:23.478Z,1750884983.478 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-25T20:56:23.575Z,1750884983.575 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-25T20:56:23.643Z,1750884983.643 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-25T20:56:23.650Z,1750884983.650 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-25T20:56:23.656Z,1750884983.656 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-25T20:56:23.658Z,1750884983.658 [OnDock:N.Docked](DEBUG): Construct.
2025-06-25T20:56:23.658Z,1750884983.658 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-25T20:56:23.683Z,1750884983.683 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-25T20:56:23.683Z,1750884983.683 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-25T20:56:23.780Z,1750884983.780 [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
    }
  }
}


2025-06-25T20:56:23.781Z,1750884983.781 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-25T20:56:23.000Z,1750884984.000 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-25T20:56:23.000Z,1750884984.000 [DefaultWithUndock] Running Loop=1
2025-06-25T20:56:24.000Z,1750884984.000 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-25T20:56:24.000Z,1750884984.000 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-25T20:56:24.000Z,1750884984.000 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-25T20:56:28.736Z,1750884988.736 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 12 hour
2025-06-25T20:56:28.737Z,1750884988.737 [CommandExec](IMPORTANT): got command run
2025-06-25T20:56:28.741Z,1750884988.741 [CommandExec](IMPORTANT): Running 
2025-06-25T20:56:28.802Z,1750884988.802 [DefaultWithUndock] Stopped
2025-06-25T20:56:28.808Z,1750884988.808 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-25T20:56:28.808Z,1750884988.808 [DefaultWithUndock:A.Wait] Stopped
2025-06-25T20:56:28.808Z,1750884988.808 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-25T20:56:28.808Z,1750884988.808 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock] Running Loop=1
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-25T20:56:28.809Z,1750884988.809 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:BackseatDriver] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:PowerOnly] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:PowerOnly:A] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:PowerOnly:B] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:PowerOnly:C] Running Loop=1
2025-06-25T20:56:28.810Z,1750884988.810 [OnDock:PowerOnly:D] Running Loop=1
2025-06-25T20:56:28.813Z,1750884988.813 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-25T20:56:28.813Z,1750884988.813 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-25T20:56:28.813Z,1750884988.813 [OnDock:dataRead] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:dataRead:A] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science:A] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science:B] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science:C] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science:D] Running Loop=1
2025-06-25T20:56:28.815Z,1750884988.815 [OnDock:science:Science:E] Running Loop=1
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:F] Running Loop=1
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-25T20:56:28.820Z,1750884988.820 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-25T20:56:28.821Z,1750884988.821 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-25T20:56:28.821Z,1750884988.821 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-25T20:56:28.821Z,1750884988.821 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-25T20:56:28.821Z,1750884988.821 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-25T20:56:28.821Z,1750884988.821 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-25T20:56:28.821Z,1750884988.821 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-25T20:56:28.822Z,1750884988.822 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-25T20:56:28.823Z,1750884988.823 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-25T20:56:28.828Z,1750884988.828 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-25T20:56:28.828Z,1750884988.828 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-25T20:56:28.828Z,1750884988.828 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-25T20:56:28.829Z,1750884988.829 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-25T20:56:28.830Z,1750884988.830 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-25T20:56:28.831Z,1750884988.831 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-25T20:56:28.836Z,1750884988.836 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-25T20:56:28.836Z,1750884988.836 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-25T20:56:28.836Z,1750884988.836 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-25T20:56:28.836Z,1750884988.836 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-25T20:56:28.836Z,1750884988.836 [OnDock:J.] Running Loop=1
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:PeriodicCheck] Running Loop=1
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-25T20:56:28.837Z,1750884988.837 [OnDock:B] Running Loop=1
2025-06-25T20:56:28.838Z,1750884988.838 [OnDock:PeriodicCheck] Running Loop=1
2025-06-25T20:56:28.838Z,1750884988.838 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-25T20:56:28.838Z,1750884988.838 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-25T20:56:28.838Z,1750884988.838 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-25T20:56:28.838Z,1750884988.838 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-25T20:56:28.838Z,1750884988.838 [OnDock:J.] Running Loop=1
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science] Stopped
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science:Science] Stopped
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science:Science:A] Stopped
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science:Science:B] Stopped
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science:Science:C] Stopped
2025-06-25T20:56:28.845Z,1750884988.845 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-25T20:56:28.839Z,1750884988.839 [OnDock:science:Science:D] Stopped
2025-06-25T20:56:28.861Z,1750884988.861 [OnDock:science:Science:E] Stopped
2025-06-25T20:56:28.861Z,1750884988.861 [OnDock:science:Science:F] Stopped
2025-06-25T20:56:28.861Z,1750884988.861 [OnDock:science:Science:Read_Oil] Stopped
2025-06-25T20:56:28.861Z,1750884988.861 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-25T20:56:28.869Z,1750884988.869 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-25T20:56:28.870Z,1750884988.870 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-25T20:56:28.871Z,1750884988.871 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-25T20:56:28.872Z,1750884988.872 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-25T20:56:28.873Z,1750884988.873 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-25T20:56:28.873Z,1750884988.873 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-25T20:56:28.873Z,1750884988.873 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-25T20:56:28.873Z,1750884988.873 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-25T20:56:28.873Z,1750884988.873 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-25T20:56:28.873Z,1750884988.873 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-25T20:56:28.874Z,1750884988.874 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-25T20:56:28.875Z,1750884988.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-25T20:56:28.892Z,1750884988.892 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-25T20:56:28.892Z,1750884988.892 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-25T20:56:28.892Z,1750884988.892 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-25T20:56:28.892Z,1750884988.892 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-25T20:56:28.893Z,1750884988.893 [OnDock:dataRead] Running Loop=1
2025-06-25T20:56:28.894Z,1750884988.894 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-25T20:56:28.894Z,1750884988.894 [OnDock:PowerOnly] Running Loop=1
2025-06-25T20:56:28.895Z,1750884988.895 [OnDock:PowerOnly:D] Stopped
2025-06-25T20:56:28.895Z,1750884988.895 [OnDock:PowerOnly:C] Stopped
2025-06-25T20:56:28.895Z,1750884988.895 [OnDock:PowerOnly:B] Stopped
2025-06-25T20:56:28.895Z,1750884988.895 [OnDock:PowerOnly:A] Stopped
2025-06-25T20:56:28.895Z,1750884988.895 [OnDock:BackseatDriver] Running Loop=1
2025-06-25T20:56:28.906Z,1750884988.906 [OnDock:B] Stopped
2025-06-25T20:56:28.907Z,1750884988.907 [OnDock:C] Running Loop=1
2025-06-25T20:56:28.907Z,1750884988.907 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-25T20:56:28.907Z,1750884988.907 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-25T20:56:28.933Z,1750884988.933 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-25T20:56:28.935Z,1750884988.935 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-25T20:56:29.149Z,1750884989.149 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            inet addr:134.89.93.61  Bcast:134.89.93.255  Mask:255.255.255.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:10685 errors:0 dropped:0 overruns:0 frame:0
            TX packets:30079 errors:0 dropped:0 overruns:0 carrier:0
            collisions:100 txqueuelen:1000 
            RX bytes:4084081 (3.8 Mb)  TX bytes:4166990 (3.9 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:10825 errors:0 dropped:0 overruns:0 frame:0
            TX packets:10825 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:974848 (952.0 Kb)  TX bytes:974848 (952.0 Kb)
  
  
2025-06-25T20:56:29.798Z,1750884989.798 [OnDock:C] Stopped
2025-06-25T20:56:29.798Z,1750884989.798 [OnDock:D] Running Loop=1
2025-06-25T20:56:30.101Z,1750884990.101 [OnDock:D] Stopped
2025-06-25T20:56:30.101Z,1750884990.101 [OnDock:E] Running Loop=1
2025-06-25T20:56:30.463Z,1750884990.463 [OnDock:E] Stopped
2025-06-25T20:56:30.463Z,1750884990.463 [OnDock:K] Running Loop=1
2025-06-25T20:56:30.834Z,1750884990.834 [OnDock:K](IMPORTANT): Restarting logs
2025-06-25T20:56:30.834Z,1750884990.834 [OnDock:K] Stopped
2025-06-25T20:56:30.834Z,1750884990.834 [OnDock:L.Execute] Running Loop=1
2025-06-25T20:56:31.261Z,1750884991.261 [OnDock:L.Execute](INFO): Executing command restart logs
2025-06-25T20:56:31.261Z,1750884991.261 [OnDock:L.Execute] Stopped
2025-06-25T20:56:31.261Z,1750884991.261 [OnDock:N.Docked] Running Loop=1
2025-06-25T20:56:31.261Z,1750884991.261 [OnDock:N.Docked](DEBUG): Initialize.
2025-06-25T20:56:31.262Z,1750884991.262 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.